Optimal Position Calibration Method for Zero-order and First-order Acceleration Dependent Term Error Models of Flexible Gyroscope Static Drift
A flexible gyroscope, static drift technology, applied in the direction of gyro effect for speed measurement, gyroscope/steering sensing device, speed/acceleration/shock measurement, etc. Can not be significantly improved, high test costs
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example 1
[0129] Comparative example 1: traditional eight-position test method
[0130] Carry out the traditional eight-position test according to the traditional eight-position test method specified 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.
[0131] see Figure 4 As shown, the traditional eight positions are expressed in the following table:
[0132] first position
The rotation angle θ of the flexible gyroscope from the initial installation coordinate system (North West) is 0 degrees, γ is 90 degrees, and φ is 0 degrees.
second position
The rotation angle θ of the flexible gyroscope from the initial installation coordinate system (N...
example 2
[0136] Comparative example 2: full-space orthogonal twenty-four-position test method
[0137] 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.
[0138] see Figure 5 As shown, the full-space orthogonal twenty-four positions are expressed in the following table:
[0139] first position
The flexible gyroscope rotates from the initial installation coordinate system (north-north-west) to 90 degrees, 90 degrees to γ, and 0 degrees to φ.
second position
The rotation angle θ of the flexible gyroscope from the initial installation coordinate system (North West) is 180 degrees, γ is 90 degrees, and ...
Embodiment
[0144] 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.
[0145] 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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