CN104567923A - Calibration method applicable to non-coplanar gyro unit - Google Patents

Abstract

The invention relates to a calibration method applicable to a non-coplanar gyro unit. The calibration method comprises the following steps of: (1) arranging a gyro assembly on a rotary platform or a spacecraft, and controlling the rotary platform or the spacecraft to rotate at constant speed around a plurality of rotary shafts including three non-coplanar rotary shafts; (2) in the rotating process, utilizing the output of the gyro assembly to calculate and obtain the posture of the rotary platform or the spacecraft, then utilizing angular data of a rotary-platform frame or measured data of a star sensor to carry out innovation correction on the posture obtained by calculation, obtaining equivalent changpiao of all gyros and the posture of the rotary platform or the posture of the spacecraft after correction under the dynamic state, and obtaining an average value of the equivalent changpiao of all the gyros by statistics; (3) controlling the rotary platform or the spacecraft to restore the stationary state, utilizing the output of the gyro assembly to calculate and obtain the posture of the rotary platform or the spacecraft, obtaining the equivalent changpiao of all the gyros and the posture of the rotary platform or the posture of the spacecraft after correction under the stationary state, and obtaining an average value of the equivalent changpiao of all the gyros by statistics; and (4) calculating to obtain the installation deviation, the changpiao and the scale factor error of all the gyros.

Description

A kind of scaling method being applicable to non-co-planar gyro group

Technical field

The present invention relates to a kind of Gyro Calibration method, can be used for spacecraft utilizes star sensor measurement to realize the inclined on-orbit calibration of gyro installation deviation, scale coefficient error and gyro zero in-orbit, also may be used for ground and utilizes high precision turntable partially to demarcate the installation deviation of gyrounit, scale coefficient error and gyro zero.

Background technology

After mounting, the sensitive axes direction of each gyro needs to demarcate relative to the installation direction of its reference mirror gyrounit, and the calibration factor of each gyro and zero also needs to demarcate partially.General employing frock and the upset of 12 positions are demarcated, but method is only applicable to the gyro of orthogonal installation from principle.

Spacecraft carries out accurate measurement to the installation of star sensor and gyro before transmission, and binds the installation matrix of accurate measurement.But the impact be given a shock in emission process, and the impact of thermal deformation after entering the orbit, the actual installation position of star sensor and gyro all changes relative to the installation matrix of bookbinding.Be subject to the impact of bias instaility in addition, zero of gyro also can change partially, and therefore high-precision navigation and gesture stability need to determine the rower that is installed into of the relative star sensor of gyro, partially demarcate zero of gyro.

Current existing scaling method is only applicable to the demarcation close to orthogonal gyro, in the process of algorithmic derivation, have employed small angle approximation, when two gyros are not close to time vertical, this small angle approximation brings larger error, thus for the timing signal of nonopiate installation gyro, its precision can significantly reduce.

Summary of the invention

The technical matters that the present invention solves is: overcome the deficiencies in the prior art, provide a kind of scaling method being applicable to non-co-planar gyro group, for non-co-planar gyro group, no longer carry out small angle approximation but adopt expression formula accurately, solving and adopt star sensor or high precision turntable data to the problem of nonopiate installation Gyro Calibration.

Technical solution of the present invention is: a kind of scaling method being applicable to non-co-planar gyro group, comprises the steps:

(1) be placed in by gyrounit on turntable or spacecraft, described gyrounit comprises three not coplanar gyros, is designated as gyro i, i=1,2,3; Three coordinate axis of turntable or spacecraft body series are designated as x, y, z, select the common P comprising non-co-planar three rotating shafts _mindividual rotating shaft, is designated as A _p, P=1,2,3 ..., P _m, P _m>=3, make P=1, forward step (2) to;

(2) if P>=P _m+ 1, then proceed to step (3); Otherwise control turntable or spacecraft are around A _paxle uniform rotation; In the rotation process of turntable or spacecraft, utilize the output of gyrounit to calculate to obtain turntable or the attitude of spacecraft and the rotational speed omega of body series three coordinate axis _j; Then utilizing the attitude measurement data of the star sensor that the frame corners data of turntable self or spacecraft carry newly to cease correction to calculating the attitude obtained, obtaining dynamically descending the equivalence of each gyro often to float b _iwith revised turntable attitude or spacecraft attitude; Meanwhile, after judging that the normal drift of gyro equivalence is stable, start statistical equivalent and often float average with rotating speed average j=x, y, z, re-execute this step after making P=P+1;

(3) make P=0, control turntable or spacecraft recovery stationary state; Utilize the output of gyrounit to calculate and obtain turntable or the attitude of spacecraft and the rotational speed omega of body series three coordinate axis _j; Then utilize the attitude measurement data of the star sensor that the frame corners data of turntable self or spacecraft carry newly to cease correction to calculating the attitude obtained, the equivalence obtaining static lower each gyro often floats b _iwith revised turntable attitude or spacecraft attitude; Meanwhile, after judging that the normal drift of gyro equivalence is stable, start statistical equivalent and often float average with rotating speed average

(4) calculate the installation deviation of demarcating rear each gyro, normal drift and scale factor error, be specially:

The installation column vector O of gyro after demarcating _gm1, O _gm2, O _gm3

O _gm1＝O _gm1/||O _gm1||

O _gm2＝O _gm2/||O _gm2||

O _gm3＝O _gm3/||O _gm3||

O _gm1＝(1+M _v11)O _g1+M _v12O _g2+M _v13O _g3

O _gm2＝M _v21O _g1+(1+M _v22)O _g2+M _v23O _g3

O _gm3＝M _v31O _g1+M _v32O _g2+(1+M _v33)O _g3

The normal drift b of gyro after demarcating _gm1, b _gm2, b _gm3:

b _gm1＝M _v14

b _gm2＝M _v24

b _gm3＝M _v34

The scale factor error coefficient of gyro after demarcating

${\tilde{k}}_{\mathrm{gm}1}=\left|\right|O_{\mathrm{gm}1}\left|\right|-1$

${\tilde{k}}_{\mathrm{gm}2}=\left|\right|O_{\mathrm{gm}2}\left|\right|-1$

${\tilde{k}}_{\mathrm{gm}3}=\left|\right|O_{\mathrm{gm}3}\left|\right|-1$

M _v1, M _v2, M _v3be the column vector of 4 × 1, the element representation of each vector is as follows:

M _v1＝[M _v11M _v12M _v13M _v14] ^T

M _v2＝[M _v21M _v22M _v23M _v24] ^T

M _v3＝[M _v31M _v32M _v33M _v34] ^T

$M_{v1}={\left(H^{T}H\right)}^{-1}{H}^T{\left[\begin{array}{cccccc}{\stackrel{\‾}{b}}_{10}& {\stackrel{\‾}{b}}_{11}& {\stackrel{\‾}{b}}_{12}& {\stackrel{\‾}{b}}_{13}& ...& {\stackrel{\‾}{b}}_{1\mathrm{Pm}}\end{array}\right]}^T$

$M_{v2}={\left(H^{T}H\right)}^{-1}{H}^T{\left[\begin{array}{cccccc}{\stackrel{\‾}{b}}_{20}& {\stackrel{\‾}{b}}_{21}& {\stackrel{\‾}{b}}_{22}& {\stackrel{\‾}{b}}_{23}& ...& {\stackrel{\‾}{b}}_{2\mathrm{Pm}}\end{array}\right]}^T$

$M_{v3}={\left(H^{T}H\right)}^{-1}{H}^T{\left[\begin{array}{cccccc}{\stackrel{\‾}{b}}_{30}& {\stackrel{\‾}{b}}_{31}& {\stackrel{\‾}{b}}_{32}& {\stackrel{\‾}{b}}_{33}& ...& {\stackrel{\‾}{b}}_{3\mathrm{Pm}}\end{array}\right]}^T$

$H=\left[\begin{array}{cc}{\left({\left[\begin{array}{ccc}{O}_{g1}^T& O_{g2}^T& O_{g3}^T\end{array}\right]}^T{\left[\begin{array}{ccc}{\stackrel{\‾}{\mathrm{\ω}}}_{x0}& {\stackrel{\‾}{\mathrm{\ω}}}_{y0}& {\stackrel{\‾}{\mathrm{\ω}}}_{z0}\end{array}\right]}^T\right)}^T& 1\\ {\left({\left[\begin{array}{ccc}{O}_{g1}^T& O_{g2}^T& O_{g3}^T\end{array}\right]}^T{\left[\begin{array}{ccc}{\stackrel{\‾}{\mathrm{\ω}}}_{x1}& {\stackrel{\‾}{\mathrm{\ω}}}_{y2}& {\stackrel{\‾}{\mathrm{\ω}}}_{z2}\end{array}\right]}^T\right)}^T& 1\\ {\left({\left[\begin{array}{ccc}{O}_{g1}^T& O_{g2}^T& O_{g3}^T\end{array}\right]}^T{\left[\begin{array}{ccc}{\stackrel{\‾}{\mathrm{\ω}}}_{x2}& {\stackrel{\‾}{\mathrm{\ω}}}_{y2}& {\stackrel{\‾}{\mathrm{\ω}}}_{z2}\end{array}\right]}^T\right)}^T& 1\\ {\left({\left[\begin{array}{ccc}{O}_{g1}^T& O_{g2}^T& O_{g3}^T\end{array}\right]}^T{\left[\begin{array}{ccc}{\stackrel{\‾}{\mathrm{\ω}}}_{x3}& {\stackrel{\‾}{\mathrm{\ω}}}_{y3}& {\stackrel{\‾}{\mathrm{\ω}}}_{z3}\end{array}\right]}^T\right)}^T& 1\\ .& .\\ .& .\\ .& .\\ {\left({\left[\begin{array}{ccc}{O}_{g1}^T& O_{g2}^T& O_{g3}^T\end{array}\right]}^T{\left[\begin{array}{ccc}{\stackrel{\‾}{\mathrm{\ω}}}_{\mathrm{xPm}}& {\stackrel{\‾}{\mathrm{\ω}}}_{\mathrm{yPm}}& {\stackrel{\‾}{\mathrm{\ω}}}_{\mathrm{zPm}}\end{array}\right]}^T\right)}^T& 1\end{array}\right]$

O in formula _g1, O _g2, O _g3for gyro is in the installation column vector of turntable or spacecraft body series.

In described step (2) and (3), the normal drift of equivalence and rotating speed average statistical method as follows:

Start to add up statistics number n=0 in season, equivalence often floats average three axle mean speeds then following formula is adopted to add up:

${\stackrel{\‾}{b}}_{\mathrm{iP}}=(n\·{\stackrel{\‾}{b}}_{\mathrm{iP}}+b_i)/(n+1)$

${\stackrel{\‾}{\mathrm{\ω}}}_{\mathrm{jP}}=(n\·{\stackrel{\‾}{\mathrm{\ω}}}_{\mathrm{jP}}+{\mathrm{\ω}}_j)/(n+1)$

n＝n+1

As statistics number n>n _threstime, statistics terminates, wherein n _thresfor statistics number threshold value, get n _thres>=40.

The present invention's advantage is compared with prior art: the present invention proposes star sensor data or high precision turntable frame corners data during one utilizes satellite to rotate, to the method that the gyro group be arranged on satellite or on turntable is demarcated, method does not carry out small angle approximation calculating principle, is applicable to the Accurate Calibration of nonopiate installation gyro.Because step is simple, is easy to spacecraft and realizes in-orbit, be also easy to utilize turntable to realize on ground, relative to existing on-orbit calibration method, calculated amount is little simultaneously; Meanwhile, adopt least-squares calculation correction due to final in method, when a certain motor-driven phase data is wrong, can not use this phase data, adopt other phase data to calculate, fault data is easy to reject, and improves the precision of demarcation.

Accompanying drawing explanation

Fig. 1 is the FB(flow block) of the inventive method.

Embodiment

In order to study the scaling method being applicable to nonopiate gyro group, first with the base that three non-orthogonal installation column vectors of the gyro of bookbinding are linear space, three gyro sensors are stated accurately, then the equivalence obtaining each rotation process and quiescing process is often floated and the installation matrix deviation of gyro, calibration factor deviation and normal relation of floating, the scaling method being applicable to nonopiate installation gyro is proposed based on this relation, as shown in Figure 1, concrete steps are as follows:

(1) be placed on turntable or spacecraft by the gyrounit comprising three gyros, three gyros are designated as gyro i, i=1,2,3; Three coordinate axis of turntable or spacecraft body series are designated as x, y, z; Select the multiple rotating shafts comprising non-co-planar three rotating shafts, be designated as A _p, P=1,2,3 ..., P _m, make P=1, forward step (2) to;

(2) if P>=P _m+ 1, then proceed to step (3), otherwise:

Control turntable or spacecraft are around A _puniform rotation;

In the rotation process of turntable or spacecraft, the output of gyrounit is utilized to calculate the attitude obtaining turntable or spacecraft, three axle rotating speeds;

Then utilizing the attitude measurement data of the star sensor that the frame corners data of turntable self or spacecraft carry newly to cease correction to calculating the attitude obtained, obtaining dynamically descending the equivalence of each gyro often to float and revised turntable attitude or spacecraft attitude; Specifically can see Yuhang Publishing House, 11 chapter Section 5 of " Satellite Attitude Dynamics and control " book of Tu Shancheng chief editor.

After judging that the normal drift of gyro equivalence is stable, start statistical equivalent and often float average rotating speed average reset each statistical variable when starting to add up, even statistics number n=0, equivalence often floats average ${\stackrel{\‾}{b}}_{\mathrm{iP}}=0(i=\mathrm{1,2,3}),$ Three axle mean speeds ${\stackrel{\‾}{\mathrm{\ω}}}_{\mathrm{jP}}=0,(j=x,y,z)$

Start statistics:

${\stackrel{\‾}{b}}_{\mathrm{iP}}=(n\·{\stackrel{\‾}{b}}_{\mathrm{iP}}+b_i)/(n+1),(i=\mathrm{1,2,3})$

${\stackrel{\‾}{\mathrm{\ω}}}_{\mathrm{jP}}=(n\·{\stackrel{\‾}{\mathrm{\ω}}}_{\mathrm{jP}}+{\mathrm{\ω}}_j)/(n+1),(j=x,y,z)$

n＝n+1

As statistics number n>n _threstime, statistics terminates, wherein n _thresfor statistics number threshold value, get n _thres=40.Here b _ifor the equivalence newly ceasing revised each gyro is often floated, ω _jthe body series three axle rotating speed obtained is exported for utilizing gyro.

P=P+1 is made to re-execute step (2);

(3) make P=0, control turntable or spacecraft recovery stationary state;

The output of gyrounit is utilized to calculate the attitude obtaining turntable or spacecraft, three axle rotating speeds;

Then utilize the attitude measurement data of the star sensor that the frame corners data of turntable self or spacecraft carry newly to cease correction to calculating the attitude obtained, the equivalence obtaining static lower each gyro is often floated and revised turntable attitude or spacecraft attitude;

After judging that the normal drift of gyro equivalence is stable, start statistical equivalent and often float average rotating speed average the same step of statistical method (2);

(4) calculate the installation deviation of each gyro, normal drift and scale factor error, be specially:

$H=\left[\begin{array}{cc}{\left({\left[\begin{array}{ccc}{O}_{g1}^T& O_{g2}^T& O_{g3}^T\end{array}\right]}^T{\left[\begin{array}{ccc}{\stackrel{\‾}{\mathrm{\ω}}}_{x0}& {\stackrel{\‾}{\mathrm{\ω}}}_{y0}& {\stackrel{\‾}{\mathrm{\ω}}}_{z0}\end{array}\right]}^T\right)}^T& 1\\ {\left({\left[\begin{array}{ccc}{O}_{g1}^T& O_{g2}^T& O_{g3}^T\end{array}\right]}^T{\left[\begin{array}{ccc}{\stackrel{\‾}{\mathrm{\ω}}}_{x1}& {\stackrel{\‾}{\mathrm{\ω}}}_{y2}& {\stackrel{\‾}{\mathrm{\ω}}}_{z2}\end{array}\right]}^T\right)}^T& 1\\ {\left({\left[\begin{array}{ccc}{O}_{g1}^T& O_{g2}^T& O_{g3}^T\end{array}\right]}^T{\left[\begin{array}{ccc}{\stackrel{\‾}{\mathrm{\ω}}}_{x2}& {\stackrel{\‾}{\mathrm{\ω}}}_{y2}& {\stackrel{\‾}{\mathrm{\ω}}}_{z2}\end{array}\right]}^T\right)}^T& 1\\ {\left({\left[\begin{array}{ccc}{O}_{g1}^T& O_{g2}^T& O_{g3}^T\end{array}\right]}^T{\left[\begin{array}{ccc}{\stackrel{\‾}{\mathrm{\ω}}}_{x3}& {\stackrel{\‾}{\mathrm{\ω}}}_{y3}& {\stackrel{\‾}{\mathrm{\ω}}}_{z3}\end{array}\right]}^T\right)}^T& 1\\ .& .\\ .& .\\ .& .\\ {\left({\left[\begin{array}{ccc}{O}_{g1}^T& O_{g2}^T& O_{g3}^T\end{array}\right]}^T{\left[\begin{array}{ccc}{\stackrel{\‾}{\mathrm{\ω}}}_{\mathrm{xPm}}& {\stackrel{\‾}{\mathrm{\ω}}}_{\mathrm{yPm}}& {\stackrel{\‾}{\mathrm{\ω}}}_{\mathrm{zPm}}\end{array}\right]}^T\right)}^T& 1\end{array}\right]$

$M_{v1}={\left(H^{T}H\right)}^{-1}{H}^T{\left[\begin{array}{cccccc}{\stackrel{\‾}{b}}_{10}& {\stackrel{\‾}{b}}_{11}& {\stackrel{\‾}{b}}_{12}& {\stackrel{\‾}{b}}_{13}& ...& {\stackrel{\‾}{b}}_{1\mathrm{Pm}}\end{array}\right]}^T$

$M_{v2}={\left(H^{T}H\right)}^{-1}{H}^T{\left[\begin{array}{cccccc}{\stackrel{\‾}{b}}_{20}& {\stackrel{\‾}{b}}_{21}& {\stackrel{\‾}{b}}_{22}& {\stackrel{\‾}{b}}_{23}& ...& {\stackrel{\‾}{b}}_{2\mathrm{Pm}}\end{array}\right]}^T$

$M_{v3}={\left(H^{T}H\right)}^{-1}{H}^T{\left[\begin{array}{cccccc}{\stackrel{\‾}{b}}_{30}& {\stackrel{\‾}{b}}_{31}& {\stackrel{\‾}{b}}_{32}& {\stackrel{\‾}{b}}_{33}& ...& {\stackrel{\‾}{b}}_{3\mathrm{Pm}}\end{array}\right]}^T$

M _v1, M _v2, M _v3be the column vector of 4 × 1, the element representation of each vector is as follows:

M _v1＝[M _v11M _v12M _v13M _v14] ^T

M _v2＝[M _v21M _v22M _v23M _v24] ^T

M _v3＝[M _v31M _v32M _v33M _v34] ^T

Calculate:

O _gm1＝(1+M _v11)O _g1+M _v12O _g2+M _v13O _g3

O _gm2＝M _v21O _g1+(1+M _v22)O _g2+M _v23O _g3

O _gm3＝M _v31O _g1+M _v32O _g2+(1+M _v33)O _g3

b _gm1＝M _v14

b _gm2＝M _v24

b _gm3＝M _v34

${\tilde{k}}_{\mathrm{gm}1}=\left|\right|O_{\mathrm{gm}1}\left|\right|-1$

${\tilde{k}}_{\mathrm{gm}2}=\left|\right|O_{\mathrm{gm}2}\left|\right|-1$

${\tilde{k}}_{\mathrm{gm}3}=\left|\right|O_{\mathrm{gm}3}\left|\right|-1$

O _gm1＝O _gm1/||O _gm1||

O _gm2＝O _gm2/||O _gm2

O _gm3＝O _gm3/||O _gm3||

O in formula _g1, O _g2, O _g3for gyro is in the installation column vector of body coordinate system,

O _gm1, O _gm2, O _gm3: for demarcating the installation column vector of rear gyro

for the gyro scale factor error coefficient obtained after demarcation

B _gm1, b _gm2, b _gm3: often float for demarcating the gyro obtained

The content be not described in detail in instructions of the present invention belongs to the known technology of those skilled in the art.

Claims (2)

1. be applicable to a scaling method for non-co-planar gyro group, it is characterized in that comprising the steps:

(1) be placed in by gyrounit on turntable or spacecraft, described gyrounit comprises three not coplanar gyros, is designated as gyro i, i=1,2,3; Three coordinate axis of turntable or spacecraft body series are designated as x, y, z, select the common P comprising non-co-planar three rotating shafts _mindividual rotating shaft, is designated as A _p, P=1,2,3 ..., P _m, P _m>=3, make P=1, forward step (2) to;

(2) if P>=P _m+ 1, then proceed to step (3); Otherwise control turntable or spacecraft are around A _paxle uniform rotation; In the rotation process of turntable or spacecraft, utilize the output of gyrounit to calculate to obtain turntable or the attitude of spacecraft and the rotational speed omega of body series three coordinate axis _j; Then utilizing the attitude measurement data of the star sensor that the frame corners data of turntable self or spacecraft carry newly to cease correction to calculating the attitude obtained, obtaining dynamically descending the equivalence of each gyro often to float b _iwith revised turntable attitude or spacecraft attitude; Meanwhile, after judging that the normal drift of gyro equivalence is stable, start statistical equivalent and often float average with rotating speed average j=x, y, z, re-execute this step after making P=P+1;

(3) make P=0, control turntable or spacecraft recovery stationary state; Utilize the output of gyrounit to calculate and obtain turntable or the attitude of spacecraft and the rotational speed omega of body series three coordinate axis _j; Then utilize the attitude measurement data of the star sensor that the frame corners data of turntable self or spacecraft carry newly to cease correction to calculating the attitude obtained, the equivalence obtaining static lower each gyro often floats b _iwith revised turntable attitude or spacecraft attitude; Meanwhile, after judging that the normal drift of gyro equivalence is stable, start statistical equivalent and often float average with rotating speed average

(4) calculate the installation deviation of demarcating rear each gyro, normal drift and scale factor error, be specially:

The installation column vector O of gyro after demarcating _gm1, O _gm2, O _gm3

O _gm1＝O _gm1/‖O _gm1‖

O _gm2＝O _gm2/‖O _gm2‖

O _gm3＝O _gm3/‖O _gm3‖

O _gm1＝(1+M _v11)O _g1+M _v12O _g2+M _v13O _g3

O _gm2＝M _v21O _g1+(1+M _v22)O _g2+M _v23O _g3

O _gm3＝M _v31O _g1+M _v32O _g2+(1+M _v33)O _g3

The normal drift b of gyro after demarcating _gm1, b _gm2, b _gm3:

b _gm1＝M _v14

b _gm2＝M _v24

b _gm3＝M _v34

The scale factor error coefficient of gyro after demarcating

${\tilde{k}}_{\mathrm{gm}1}=\left|\right|O_{\mathrm{gm}1}\left|\right|-1$

${\tilde{k}}_{\mathrm{gm}2}=\left|\right|O_{\mathrm{gm}2}\left|\right|-1$

${\tilde{k}}_{\mathrm{gm}3}=\left|\right|O_{\mathrm{gm}3}\left|\right|-1$

M _v1, M _v2, M _v3be the column vector of 4 × 1, the element representation of each vector is as follows:

M _v1＝[M _v11M _v12M _v13M _v14] ^T

M _v2＝[M _v21M _v22M _v23M _v24] ^T

M _v3＝[M _v31M _v32M _v33M _v34] ^T

$M_{v1}={\left(H^{T}H\right)}^{-1}{H}^T{\left[\begin{array}{cccccc}{\stackrel{\‾}{b}}_{10}& {\stackrel{\‾}{b}}_{11}& {\stackrel{\‾}{b}}_{12}& {\stackrel{\‾}{b}}_{13}& ...& {\stackrel{\‾}{b}}_{1\mathrm{Pm}}\end{array}\right]}^T$

$M_{v2}={\left(H^{T}H\right)}^{-1}{H}^T{\left[\begin{array}{cccccc}{\stackrel{\‾}{b}}_{20}& {\stackrel{\‾}{b}}_{21}& {\stackrel{\‾}{b}}_{22}& {\stackrel{\‾}{b}}_{23}& ...& {\stackrel{\‾}{b}}_{2\mathrm{Pm}}\end{array}\right]}^T$

$M_{v3}={\left(H^{T}H\right)}^{-1}{H}^T{\left[\begin{array}{cccccc}{\stackrel{\‾}{b}}_{30}& {\stackrel{\‾}{b}}_{31}& {\stackrel{\‾}{b}}_{32}& {\stackrel{\‾}{b}}_{33}& ...& {\stackrel{\‾}{b}}_{3\mathrm{Pm}}\end{array}\right]}^T$

$H=\left[\begin{array}{cc}{\left({\left[\begin{array}{ccc}{O}_{g1}^T& O_{g2}^T& O_{g3}^T\end{array}\right]}^T{\left[\begin{array}{ccc}{\stackrel{\‾}{\mathrm{\ω}}}_{x0}& {\stackrel{\‾}{\mathrm{\ω}}}_{y0}& {\stackrel{\‾}{\mathrm{\ω}}}_{z0}\end{array}\right]}^T\right)}^T& 1\\ {\left({\left[\begin{array}{ccc}{O}_{g1}^T& O_{g2}^T& O_{g3}^T\end{array}\right]}^T{\left[\begin{array}{ccc}{\stackrel{\‾}{\mathrm{\ω}}}_{x1}& {\stackrel{\‾}{\mathrm{\ω}}}_{y1}& {\stackrel{\‾}{\mathrm{\ω}}}_{z1}\end{array}\right]}^T\right)}^T& 1\\ {\left({\left[\begin{array}{ccc}{O}_{g1}^T& O_{g2}^T& O_{g3}^T\end{array}\right]}^T{\left[\begin{array}{ccc}{\stackrel{\‾}{\mathrm{\ω}}}_{x2}& {\stackrel{\‾}{\mathrm{\ω}}}_{y2}& {\stackrel{\‾}{\mathrm{\ω}}}_{z2}\end{array}\right]}^T\right)}^T& 1\\ {\left({\left[\begin{array}{ccc}{O}_{g1}^T& O_{g2}^T& O_{g3}^T\end{array}\right]}^T{\left[\begin{array}{ccc}{\stackrel{\‾}{\mathrm{\ω}}}_{x3}& {\stackrel{\‾}{\mathrm{\ω}}}_{y3}& {\stackrel{\‾}{\mathrm{\ω}}}_{z3}\end{array}\right]}^T\right)}^T& 1\\ .& .\\ .& .\\ .& .\\ {\left({\left[\begin{array}{ccc}{O}_{g1}^T& O_{g2}^T& O_{g3}^T\end{array}\right]}^T{\left[\begin{array}{ccc}{\stackrel{\‾}{\mathrm{\ω}}}_{\mathrm{xPm}}& {\stackrel{\‾}{\mathrm{\ω}}}_{\mathrm{yPm}}& {\stackrel{\‾}{\mathrm{\ω}}}_{\mathrm{zPm}}\end{array}\right]}^T\right)}^T& 1\end{array}\right]$

O in formula _g1, O _g2, O _g3for gyro is in the installation column vector of turntable or spacecraft body series.

2. a kind of scaling method being applicable to non-co-planar gyro group according to claim 1, is characterized in that: in described step (2) and (3), the normal drift of equivalence and rotating speed average statistical method as follows:

Start to add up statistics number n=0 in season, equivalence often floats average three axle mean speeds

Then following formula is adopted to add up:

${\stackrel{\‾}{b}}_{\mathrm{iP}}=(n\·{\stackrel{\‾}{b}}_{\mathrm{iP}}+b_i)/(n+1)$

${\stackrel{\‾}{\mathrm{\ω}}}_{\mathrm{jP}}=(n\·{\stackrel{\‾}{\mathrm{\ω}}}_{\mathrm{jP}}+{\mathrm{\ω}}_j)/(n+1)$

n＝n+1

As statistics number n>n _threstime, statistics terminates, wherein n _thresfor statistics number threshold value, get n _thres>=40.