基于非机动窗口捕捉的陀螺漂移在线补偿方法  

Onboard compensation method for gyroscope drift by capturing non-maneuvering window

作　　者：王海涌[1] 徐源 王伟东[2] 刘佳琪[2] WANG Haiyong;XU Yuan;WANG Weidong;LIU Jiaqi(School of astronautics,Beihang University,Beijing 100191,China;Beijing Institute of Space Long March Vehicle,Beijing 100076,China)

机构地区：[1]北京航空航天大学宇航学院,北京100191 [2]北京航天长征飞行器研究所,北京100076

出　　处：《中国惯性技术学报》2020年第3期365-371,共7页Journal of Chinese Inertial Technology

基　　金：国家自然科学基金(61673040)。

摘　　要：针对中低精度自主导航要求,基于MEMS惯组中的加速度计与磁力计,提出一种基于非机动窗口捕捉的陀螺漂移在线补偿方法。通过加速度计输出值判定飞行状态,捕捉非机动窗口。利用地磁矢量以及重力矢量估计陀螺漂移并修正姿态误差。在陀螺漂移6°/h,磁力计精度100 nT的仿真条件下,能有效估计出陀螺漂移,姿态精度优于3′。在80 mg加速度计噪声干扰下定姿精度优于8′,同等条件下比现有互补滤波算法精度提高50%。基于转台开展了MEMS惯组ADIS16488的物理试验,结果表明,所提出算法能有效修正姿态误差,比现有的互补滤波算法更具有抗机动性。所提出方法完全自主,精度较高,可显著提升中低精度惯组中陀螺的性能,具有工程应用价值。Aiming at the requirement of low or medium precision autonomous navigation,based on the inner accelerometers and magnetometers of MEMS inertial measurement system,an onboard compensation method for gyroscope drift is put forward by capturing non-maneuvering window during a real mission process.Using the output of the accelerometers,the vehicle flying state can be inferred whether is in a maneuvering state,if not,the non-maneuvering window can be captured where the vehicle is in a hovering state or in a uniform straight line motion.Within the non-maneuvering window gyro drift can be estimated and the attitude error is corrected by means of the geomagnetic vector and the gravity vector.Under the simulation conditions of 6°/h for gyro drift and 100 nT for magnetometer accuracy,the attitude accuracy is better than 3′.Under the accelerometer noise magnitude of 80 mg,the ultimate attitude accuracy is better than 8′,which is 50%higher than the existing complementary filter algorithms.The turntable tests are executed for a MEMS IMU ADIS16488,experimental results testify that the algorithm can correct the attitude error effectively and is more remarkable anti-jitter property than the other existing complementary filter methods.The proposed method is complete autonomous and has a high accuracy,which can obviously promote the performance of the inertial measurement unit with a low or medium precession,and has the value of engineering applications.

关 键 词：组合导航 捷联惯导 平台失准角 磁强计 重力 卡尔曼滤波 

分 类 号：V249.3[航空宇航科学与技术—飞行器设计]