A zero-bias compensation method for deflection modulation of gyroscope in inertial measurement unit
A technology of inertial measurement unit and compensation method, which is applied in the direction of measuring devices and instruments, can solve the problems of high cost and technical complexity, large volume and weight of rotating mechanism, etc., and achieve the effect of improving system reliability and reducing volume
Active Publication Date: 2021-04-02
PLA PEOPLES LIBERATION ARMY OF CHINA STRATEGIC SUPPORT FORCE AEROSPACE ENG UNIV
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Problems solved by technology
[0005] The technical solution of the present invention is to propose an inertial measurement unit in view of the zero bias problem of the gyroscope in the inertial measurement unit, and the problems of large volume and weight of the rotating mechanism, high cost and technical complexity in the traditional rotation modulation technology. Deflection Modulation Zero Offset Compensation Method for Medium Gyroscope
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[0038] specific implementation plan
[0039] Specific embodiments of the present invention are as figure 1 As shown, the definition of the inertial measurement unit coordinate system and the carrier coordinate system and the installation of the deflection mechanism are as follows figure 2 as shown, figure 2 Take the x-axis as the deflection axis as an example to illustrate, where the xyz system and x b the y b z b The frames are the inertial measurement unit coordinate system and the carrier coordinate system, respectively. The specific implementation steps are as follows:
[0040] (1) Determine the deflection axis and initial deflection angle according to the axis to be modulated. When modulating the x-axis of the carrier system, if the y-axis is selected as the deflection axis, the initial deflection angle is as follows:
[0041]
[0042] Among them, θ 0 is the initial deflection angle, ε x is the zero bias of the inertial measurement unit x-axis gyroscope, ε z...
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The invention relates to a deflection modulation zero-offset compensation method of a gyro in an inertial measurement unit. The deflection modulation zero-offset compensation method comprises the stepof determining a deflection shaft and an initial deflection angle according to an axial direction needed to be modulated and according to a relation between the initial deflection angle of the inertial measurement unit and a modulation axial direction. The inertial measurement unit deflects at a small angle around the deflection shaft according to deflection transposition by taking the initial deflection angle as a center, zero offset of the gyro on the modulation axial direction can be modulated to a periodically-changing signal, an average value of the signal within a deflection period is zero, so that an error item caused by zero offset of the gyro in the axial direction during the inertia navigation error propagation process is zero or approximate to zero after integration, and errorcompensation of the modulation axial direction is achieved. Zero-offset compensation in a certain axial direction can be achieved by only small-angle rotation during the modulation process; compared with traditional rotation modulation, the deflection modulation zero-offset compensation method has the advantages that the size, the weight, the cost and the technical difficulty of the system can bereduced, and the reliability of the system is improved. The deflection modulation zero-offset compensation method belongs to the technical field of inertia navigation, and can be applied to error compensation of the inertia measurement unit.
Description
technical field [0001] The invention relates to a deflection modulation zero offset compensation method of a gyroscope in an inertial measurement unit, which is suitable for the occasion of error compensation of the inertial measurement unit. [0002] technical background [0003] The bias of the gyroscope in the inertial measurement unit can generally be divided into two parts: constant value bias and random bias. Among them, the constant value deviation is also called zero deviation, which can be compensated in advance. But in fact, the zero bias is also changing. In addition to the successive startup errors, there are also daily changes. That is, after a startup, with the increase of the gyroscope's running time, the zero bias also changes slowly to the extent that the accuracy of the navigation system cannot be allowed. . As an automatic compensation method for the constant deviation of inertial devices, the rotation modulation technology can automatically modulate the ...
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IPC IPC(8): G01C25/00
CPCG01C25/005
Inventor 任元朱挺陈晓岑王丽芬苗继松翟雪瑞余定展杨洋熊振宇于春淼
Owner PLA PEOPLES LIBERATION ARMY OF CHINA STRATEGIC SUPPORT FORCE AEROSPACE ENG UNIV