一种光学陀螺随机误差在线补偿方法  

An online compensation method for random error of optical gyro

作　　者：卢克文 王新龙[1] 王彬 丁小昆[3] 胡晓东[3] LU Kewen;WANG Xinlong;WANG Bin;DING Xiaokun;HU Xiaodong(School of Astronautics,Beijing University of Aeronautics and Astronautics,Beijing 100191,China;Beijing Institute of Control&Electronic Technology,Beijing 100038,China;The Flight Automatic Control Research Institute of AVIC,Xi’an 710065,China)

机构地区：[1]北京航空航天大学宇航学院,北京100191 [2]北京控制与电子技术研究所,北京100038 [3]中国航空工业集团公司西安飞行自动控制研究所,西安710065

出　　处：《北京航空航天大学学报》2024年第5期1614-1619,共6页Journal of Beijing University of Aeronautics and Astronautics

基　　金：国家自然科学基金(61673040);重点基础研究项目(2020-JCJQ-ZD-136-12);航空科学基金(20170151002);天地一体化信息技术国家重点实验室基金(2015-SGIIT-KFJJ-DH-01)。

摘　　要：光学陀螺随机误差在线补偿方法通常先离线建立随机误差模型,再利用Kalman滤波在线补偿随机误差。受陀螺仪自身性能稳定性以及外界环境的影响,离线建立的随机误差模型应用于在线补偿时会出现偏差;外界环境变化导致量测噪声统计特性具有时变性,不满足Kalman滤波必须已知噪声先验统计的要求,这2个因素均会降低随机误差的在线估计精度。提出一种基于自适应滤波的随机误差在线补偿方法。通过引入虚拟噪声,将随机误差模型偏差的影响归结为时变虚拟系统噪声;进而利用渐消记忆时变噪声估值器,对虚拟系统噪声和量测噪声的统计特性进行估计与修正,消除随机误差模型偏差及量测噪声时变的影响。试验结果表明,所提方法可以实现对随机误差的高精度在线补偿,具有一定工程应用价值。The random error online compensation method of optical gyro establishes a random error model offline and compensates random error online by Kalman filter.However,when used for online compensation,the offline random error model has deviation due to the influence of the external environment and the stability of the gyro’s performance.In addition,changes in the external environment cause measurement noise with time-varying statistical characteristics,which does not meet the requirement that the Kalman filter must have known the noise’s prior statistics.The above factors reduce the online estimation accuracy of random error.Therefore,an online random error compensation method based on adaptive filtering is proposed.The influence of random error model deviation is reduced to time-varying virtual system noise by introducing virtual noise.In order to remove the effects of random error model deviation and time-varying measurement noise,the fading memory time-varying noise estimator is used to estimate and correct the statistical properties of the virtual system and measurement noise.The experimental results show that the proposed method can realize high-precision online compensation for random error,and has certain engineering application value.

关 键 词：随机误差 在线补偿 模型偏差 时变噪声 自适应滤波 

分 类 号：V249.328[航空宇航科学与技术—飞行器设计]