基于陀螺幅频泰勒级数展开的圆锥误差补偿方法  

Cone error compensation method based on gyro amplitudefrequency Taylor series expansion

作　　者：纪越 王志超[1] 李醒飞[2] 鲁建宇 李金义[1] JI Yue;WANG Zhichao;LI Xingfei;LU Jianyu;LI Jinyi(School of Control Science and Engineering,Tian Gong University,Tianjin 300387,China;State Key Laboratory of Precision Measuring Technology and Instruments,Tianjin University,Tianjin 300072,China)

机构地区：[1]天津工业大学控制科学与工程学院,天津300387 [2]天津大学精密测试技术及仪器国家重点实验室,天津300072

出　　处：《中国惯性技术学报》2024年第10期955-961,967,共8页Journal of Chinese Inertial Technology

基　　金：国家自然科学基金面上项目(62173245)。

摘　　要：针对实际载体高动态运动环境中陀螺角速度经过滤波去噪且存在通带范围内增益不均匀的问题,导致传统等效旋转矢量迭代过程误差累积增加,提出一种基于陀螺频域特征的圆锥误差补偿算法。该方法构建了匹配陀螺频率特征的角速度输入函数,进而计算幅频旋转矢量增量与理想旋转矢量的差值,通过将特征函数在频域内展开泰勒级数,使频域特征项系数对应相等求解圆锥系数,补偿系数可以看作考虑频域特征后对理想系数的修正补偿量。仿真及实验结果表明,所提幅频特征补偿算法锥进轴漂移率由10^(-5)(°)/h降低为10^(-11)(°)/h,验证了算法可行性,最终在单轴转台进行位置跟踪实验,实时位置跟踪精度提高了10%,为高精度捷联惯性导航惯性器件与补偿优化算法提供了理论参考与实验基础。In the high dynamic motion environment of a real carrier,where the gyro angular velocity is filtered and denoised,the passband range presents an uneven gain issue leading to an accumulation of error in the iterative process of the traditional equivalent rotational vector.To address this problem,we propose a conic error compensation algorithm that is based on the gyro frequency domain features.The procedure creates a function for the angular velocity input that matches the gyro's frequency characteristics.It then computes the difference between the amplitude-frequency rotation vector increment and the perfect rotation vector.The conic coefficients are solved by expanding the eigenfunctions into a Taylor series in the frequency domain.In this way,the coefficients of the features in the frequency domain align with the equal ones.The compensation coefficients signify the adjusted compensation amount of the ideal coefficients,taking the frequency domain's features into account.Simulation and experimental results demonstrate that the proposed amplitude-frequency feature compensation algorithm effectively reduces axis drift rate from 10^(-5)(°)/hto 110^(-11)(°)/h,confirming the algorithm's feasibility.In addition,during single-axis rotary table position tracking experiments,real-time position tracking accuracy increased by 10%.This provides a theoretical reference and experimental basis for high-precision strapdown inertial navigation inertial devices and compensation optimization algorithms.

关 键 词：频率特征 圆锥误差 姿态跟踪 单轴转台 

分 类 号：U666.1[交通运输工程—船舶及航道工程]