激光陀螺仪敏感轴动态偏移系统级估计与补偿  

Systematic estimation and compensation of dynamic bending of RLG sensitive axis

作　　者：孙伟强[1,2,3] 崔凤仪 刘建春 李迪 熊崴 温强[1] SUN Weiqiang;CUI Fengyi;LIU Jianchun;LI Di;XIONG Wei;WEN Qiang(Tianjin Navigation Instrument Research Institute,Tianjin 300131,China;Laboratory of Science and Technology on Marine Navigation and Control of China State Shipbuilding Corporation,Tianjin 300131,China;College of Intelligent Systems Science and Engineering,Harbin Engineering University,Harbin 150001,China)

机构地区：[1]天津航海仪器研究所,天津300131 [2]中国船舶集团公司航海保障技术实验室,天津300131 [3]哈尔滨工程大学智能科学与工程学院,哈尔滨150001

出　　处：《中国惯性技术学报》2023年第7期637-641,649,共6页Journal of Chinese Inertial Technology

基　　金：装备预先研究项目(50917030101)。

摘　　要：针对激光陀螺仪敏感轴动态偏移造成惯导系统导航精度下降的问题,提出了一种系统级估计与补偿方法。首先分析了激光陀螺仪敏感轴动态偏移的产生机理,建立了敏感轴动态偏移误差模型,通过对惯性测量单元施加惯性力,激励激光陀螺仪敏感轴动态偏移误差。然后设计了敏感轴动态偏移参数系统级估计方法,以速度误差为观测量,采用卡尔曼滤波器估计敏感轴动态偏移参数。实验结果表明,激光陀螺仪敏感轴动态偏移参数估计精度优于0.2″/g。A systematic estimation and compensation method is proposed to solve the problem of decreased inertial navigation system navigation accuracy caused by the dynamic bending of ring laser gyroscope(RLG)sensitive axis.Firstly,the mechanism of the dynamic bending of RLG sensitive axis is analyzed,and the dynamic bending error model of the sensitive axis is established.By applying inertial force to the inertial measurement unit,the dynamic bending error of RLG sensitive axis is excited.Then the systematic estimation method is designed to estimate the dynamic bending parameters of the sensitive axis.Kalman filter is used to estimate the dynamic bending parameters of the sensitive axis with the velocity error as an observation.The experimental results show that the estimation accuracy of the dynamic bending parameters of RLG sensitive axis is superior to 0.2″/g.

关 键 词：激光陀螺仪 敏感轴动态偏移 误差模型 卡尔曼滤波器 参数估计 

分 类 号：U666.1[交通运输工程—船舶及航道工程]