高精度液浮陀螺仪在双轴转台上的标定方法与误差分析  

Calibration Method and Error Analysis of a High Accuracy Floated Gyroscope on the Two-Axis Turntable

作　　者：刘庆博[1] 任顺清[1] 曾鸣[1] 王常虹[1] LIU Qing-bo;REN Shun-qing;ZENG Ming;WANG Chang-hong(Space Control and Inertial Technology Research Center,Harbin Institute of Technology,Harbin 150001,China)

机构地区：[1]哈尔滨工业大学空间控制与惯性技术研究中心,哈尔滨150001

出　　处：《宇航学报》2018年第10期1134-1140,共7页Journal of Astronautics

基　　金：十三.五装备预研项目(4141708031)

摘　　要：为提高液浮陀螺仪在双轴转台上的标定精度,将双轴转台的误差,陀螺仪的安装误差以及陀螺仪自身的静态误差建立在陀螺仪的标定模型中,在1g重力场中分别建立了16位置和20位置陀螺仪的标定方案。采用误差分离技术与最小二乘法来标定液浮陀螺仪的误差模型系数。与传统的8位置标定方法相比,本文所提出的两种多位置标定方法可以自动规避或补偿双轴转台误差,也可消除不易测量的陀螺仪安装误差对标定结果的影响,以此来提高液浮陀螺仪的标定精度。最后对提出的多位置标定方法进行误差分析,验证了方法的有效性。To improve the calibration accuracy of a floated gyroscope on a two-axis turntable,the calibration model of the gyroscope on the two-axis turntable is established by introducing the two-axis turntable errors,gyroscope installation errors and gyroscope static error model. The gyroscope＇s calibration schemes are established by the 16-position and 20-position methods in the gravity field of 1 g respectively. Then the error model coefficients are calibrated by the error separation method and the least square method. Compared with the 8-position method,the floated gyroscope＇s calibration accuracy can be improved by avoiding or compensating for the turntable errors automatically and eliminating the influence of the gyroscope installation errors which are difficult to be measured. Moreover,the error analysis implies that the two multiple-position calibration methods can improve the calibration accuracy of the floated gyroscope effectively.

关 键 词：液浮陀螺仪 双轴转台 误差模型系数 最小二乘法 

分 类 号：U666.1[交通运输工程—船舶及航道工程]