陀螺时间不同步误差对姿态解算的影响分析  

Analysis of Non-synchronous Error of Gyros' Effect on Attitude Update

作　　者：翁浚[1] 秦永元[1] 张强[1] 刘镇波[1] 

机构地区：[1]西北工业大学自动化学院,西安710129

出　　处：《弹箭与制导学报》2015年第5期5-8,12,共5页Journal of Projectiles,Rockets,Missiles and Guidance

基　　金：国家自然科学基金(61273333)资助

摘　　要：由于采样电路延迟、陀螺频率特性等原因,使得惯性测量组件中三轴陀螺输出呈现不同步的现象。文中从姿态解算方程出发,分析推导了当载体两个轴向存在不同输入相角的正弦晃动时,时间不同步误差对姿态解算影响大小,指出当输入相角分别为正交和同相时,影响达到最小和最大。分析了0~100 Hz振动环境下,陀螺时间不同步误差的影响特性,并对惯性测量组件的设计环节提出了相应改进意见。Because of time-delay of sampling circuit and frequency response of gyros,output of three gyros in inertial measurement unit is asynchronous. On the basis of attitude computation equations,the effect of gyros＇ asynchronization on attitude calculation was analyzed and deduced firstly when phase angles of sine swaying along the vehicle＇s two axes were different. It is indicated that when phase angles are orthotropic and same,the effect reaches minimum and maximum respectively. The impact characteristics of gyros＇ asynchronous behavior was analyzed under vibration environment through 0 ~ 100 Hz,and the paper offers some proposals related to the design of inertial measurement unit.

关 键 词：姿态解算 不同步 圆锥运动 频率特性 

分 类 号：V249.3[航空宇航科学与技术—飞行器设计]