Optimal position calibration method of static drifting zero and primary acceleration related term error model of flexible gyroscope

A technology of flexible gyroscope and static drift, which is applied in the direction of speed measurement by gyro effect, gyroscope/steering sensing equipment, speed/acceleration/shock measurement, etc. Significantly improved, high test costs and other issues

Inactive Publication Date: 2010-06-16
BEIHANG UNIV
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Problems solved by technology

[0005] First, the accuracy of the first-order drift coefficient in the DTGs-AID-ADD model obtained by the traditional eight-position test method is not high, so that after the drift coefficient estimated by this method is used to compensate the static drift error of the flexible gyro, the gyro measurement Accuracy cannot be improved significantly
[0006] Second, although the accuracy of the first-order drift coefficient in the DTGs-AID-ADD model estimated by the full-space orthogonal twenty-four-position test method is improved compared with the traditional eight-position test method, the estimation results The first-order drift coefficient in is not optimal. In addition, the test process of this method takes a long time, the data processing workload is large, and the test cost is high.
[0007] Third, the traditional eight-position and full-space orthogonal twenty-four-position test method is not the optimal test method, and the drift coefficient obtained is not optimal.

Method used

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  • Optimal position calibration method of static drifting zero and primary acceleration related term error model of flexible gyroscope
  • Optimal position calibration method of static drifting zero and primary acceleration related term error model of flexible gyroscope
  • Optimal position calibration method of static drifting zero and primary acceleration related term error model of flexible gyroscope

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Experimental program
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Effect test

example 1

[0130] Comparative example 1: traditional eight-position test method

[0131] Carry out the traditional eight-position test according to the traditional eight-position test method stipulated in IEEE Std 813-1988 or the national military standard. The test method and steps are the same as the above-mentioned spatial orthogonal twelve-position test method, except that the test orientation is changed as shown in Table 3 The traditional eight positions of the collected position-data are shown in the X-axis data and Y-axis data in Table 3 after removing wild points.

[0132] see Figure 4 As shown, the traditional eight positions are expressed in the following table:

[0133] first position

[0134] Note: θ is the rotation angle of the X axis, γ is the rotation angle of the Y axis, and φ is the rotation angle of the Z axis.

[0135] Table 3 Experimental data of two measuring axes under traditional eight positions

[0136] position

[0137] position ...

example 2

[0138] Comparative example 2: full-space orthogonal twenty-four-position test method

[0139] Carry out the test according to the full-space orthogonal twenty-four positions shown in Table 4. The test method and steps are still the same as the above-mentioned space orthogonal twelve-position test method, but the test orientation is changed to the full space orthogonal as shown in Table 4. Position, the collected position-data after removing wild points is shown in the X-axis data and Y-axis data in Table 4.

[0140] see Figure 5 As shown, the full-space orthogonal twenty-four positions are expressed in the following table:

[0141] first position

[0142] first position

[0143] Note: θ is the rotation angle of the X axis, γ is the rotation angle of the Y axis, and φ is the rotation angle of the Z axis.

[0144] Table 4. Experimental data of two measurement axes in full-space orthogonal twenty-four positions

[0145] position

[0146] ...

Embodiment

[0148] Please refer to Table 7. It can be seen that the accuracy of the space-orthogonal twelve-position test method is greatly improved compared with the traditional eight-position test method, and the accuracy of the full-space orthogonal twenty-four-position test method is improved and the test time is shortened by half.

[0149] The present invention is a space orthogonal twelve position calibration method based on the DTGs-AID-ADD model, using the D-optimal experimental design method to determine that the number of optimal test positions for the DTGs-AID-ADD model should be twelve and the maximum Excellent twelve test orientation. Table 5 shows the drift coefficients obtained by testing the flexible gyroscope in the inertial navigation test center using the traditional eight-position method, the full-space orthogonal twenty-four-position method and the space orthogonal twelve-position method. Table 6 is the data of test points. These test points are taken from the full-or...

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Abstract

The invention discloses an optimal position calibration method of a static drifting zero and primary acceleration related term error model of a flexible gyroscope, which acquires an optimal test position by adopting a D-optimal test design method. In the invention, the output of the flexible gyroscope is effectively improved by carrying out measured value compensation on acquired optimal space quadrature-12 position drifting coefficients and an acquired flexible gyro static error compensation model G0 under the optimal space quadrature-12 position; the drifting coefficients are acquired by respectively adopting a traditional 8-position method, a full-space quadrature-24 position method and an optimal space quadrature-12 position method in the flexible gyro test process in an inertial navigation center; and the residual square sum of gyro testing values can shows that a solved result of the drifting coefficients after being compensated by utilizing the optimal space quadrature-12 position test design method of the flexible gyroscope is improved by 4 to 5 times compared with the traditional 8-position method, the precision is improved and the test time is shortened by half compared with the full-space quadrate-24 position test method.

Description

technical field [0001] The invention relates to a calibration method for a static drift error model of a flexible gyroscope, more particularly, a calibration method for determining the optimal position of a DTGs-AID-ADD model by using a D-optimal test design method. Background technique [0002] Gyro technology not only plays a huge role in the fields of military, aviation, and aerospace, but also is widely used in other fields of the national economy, playing an important role in the development of the national economy. Gyro testing is a guarantee measure in the production and application of gyroscopes, and the level of testing accuracy directly affects the development speed of gyroscope technology. [0003] The flexible gyroscope is a dual-degree-of-freedom gyroscope, which is widely used in various navigation, guidance and control systems because of its advantages in accuracy, volume, cost and reliability. However, in practical applications, there are drift errors caused...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C25/00G01C19/00
Inventor 富立王新玲刘文丽王玲玲
Owner BEIHANG UNIV
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