CN109059961A - A kind of error range analysis method for gyro to measure instrument - Google Patents
A kind of error range analysis method for gyro to measure instrument Download PDFInfo
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Abstract
The invention discloses a kind of error range analysis methods for gyro to measure instrument, comprising the following steps: carries out random noise analysis to gyro using Allan variance method, obtains random noise item and random noise coefficient；Azimuth angle error analysis model is established using random noise item and random noise coefficient；Azimuth angle error analysis model, initial point location error range model and hole angle error model constitute the error model under gyroscopic instrument tie-in mode, after error model is overlapped according to error principle of stacking, carries out multivariate normal distributions and obtain well track error range.The present invention is analyzed using random noise item of the Allan variance normal to gyro, random noise is selected to carry out error modeling according to the result of Allan variance analysis, and then the error range of well track position is calculated, more reliable information is provided for fields such as wellbore anti-collisions.
Description
Technical field
The present invention relates to petroleum battering methods field, more particularly to a kind of error for gyro to measure instrument
Surface analysis method.
Background technique
Since last century the eighties, domestic many oil fields initially enter mid-later development phase, and exploration object is increasingly complicated,
Old filed stable yields difficulty increases, and new technical problem continuously emerges in new district oil-gas exploration.In order to improve thin oil reservoir, elusive reservoir etc.
The development efficiency of Complex Reservoir, sufficiently exploitation old filed, the complexity well construction such as directional well, horizontal well, Multilateral Wells and extended reach well
It is widely applied.And the error range of accurate well track plays crucial work during realizing the above target
With.
Traditional inclinometer is mainly the inclinometer being made of fluxgate and accelerometer.By accelerometer and magnetometer structure
At the strapdown type attitude measuring system based on earth's magnetic field, it is this based on the method in earth's magnetic field due to do not have in system movable member because
And there is good shock resistance and anti-interference, structure is simple, small in size, light-weight, starting is rapid, at low cost, becomes perhaps
Mostly with the first choice for boring attitude measurement, but it is easy the interference by subsurface mineral magnetic field, measurement accuracy degradation.Inertia is surveyed at present
Amount technology using more and more, utilizes mechanical gyro and accelerometer combination to realize well track measurement for deviational survey field.
Optical fibre gyro has many advantages, such as measurement accuracy height, anti-vibration, relatively strong diamagnetic interference performance at present, gradually develops in deviational survey field
Come.Therefore gyro strap-down inertial navigation system has broad application prospects in well track fields of measurement.
The well track error range analysis model of early stage is WdW model, is to be mentioned by Wolff and deWardt in 1981
Out, the main object of model research is the instrument of magnetic compass or free gyro.Williamson is on the basis of WdW model
On, the development for drilling well at that time proposes the model framework new for MWD (Measurement while drilling), main
It include error model, Fundamentals of Mathematics and the simple data verification measured for basic MWD.Torgeir
Torkildsen et al. establishes error model on the basis of the work of Williamson et al., for gyrolevel, the mould
Type is suitable for most of gyrolevels.The model has studied new error term set and these error terms are how to sense
It contributes in terms of device configuration and operation mode to error ellipsoid.But in severe subsurface environment, gyro was continuously measured
The main random noise item of Cheng Zhong, different gyros are different, cannot lump together the modeling process of gyroscopic instrument.
Therefore, the method that Gyro Random noise can be analyzed by how providing one kind is that those skilled in the art need
It solves the problems, such as.
Summary of the invention
In view of this, this method can the present invention provides a kind of error range analysis method for gyro to measure instrument
The error range of the well track under tie-in mode is effectively estimated, provides reasonable analysis item for application fields such as wellbore anti-collisions
Part.
To achieve the goals above, the present invention adopts the following technical scheme:
A kind of error range analysis method for gyro to measure instrument, comprising the following steps:
S1: random noise analysis is carried out to gyro using Allan variance method, obtains random noise item and random noise system
Number；
S2: azimuth angle error analysis model is established using random noise item and random noise coefficient；
S3: azimuth angle error analysis model is utilized, and combines initial point location error range model and hole deviation angle error
Error model under model construction gyroscopic instrument tie-in mode after error model is overlapped according to error principle of stacking, carries out
Multivariate normal distributions obtain well track error range.
Further, S1: carrying out random noise analysis to gyro using Allan variance method, obtains random noise item and random
The specific steps of noise coefficient are as follows:
S11: inputting the average angular rate sequence Ω of gyro, and assumes that the sampling interval is τi, angular speed number of samples is Ni,
Cycling condition i=0 exports to obtain rudimentary horn rate samples by acquiring gyro
WhereinFor rudimentary horn rate samples sequence, N0Indicate rudimentary horn rate samples number；
S12: according to rudimentary horn rate samples sequence or new sampling point sequence, the calculating sampling interval is τiWhen it is corresponding
Allan variance
S13: cycling condition adds 1, i=i+1, and the sampling interval doubles τi=2 τi-1, angular speed number of samples halves Ni=
[Ni-1/ 2], make arithmetic mean between adjacent odd even serial number angular speed sample, obtain new sampling point sequence；
S14: judge angular speed number of samples NiWhether less than 3, if so, then executing S15, it is otherwise back to S12；
S15: sampling interval τ is drawniWith corresponding A llan varianceCurve graph, and obtained according to each sampling interval
Allan varianceIt carries out curve fitting to obtain random noise item and random noise coefficient.
Further, Allan varianceCalculation formula are as follows:
Wherein, K indicates the number of current sample sequence,Respectively indicate the K+1 of current sample sequence
A value and k-th value,
Further, the Allan variance obtained according to each sampling intervalIt carries out curve fitting to obtain random noise system
Several specific steps are as follows:
Fitting formula are as follows:
Wherein,Indicate quantizing noise Allan variance,Indicate angle random walk noise Allan variance,Indicate zero bias unstability noise Allan variance,Indicate angular speed random walk noise Allan variance,
Indicate rate ramp noise Allan variance, τ indicates sampling time, A-2,A-1,A0,A1,A2Respectively with quantizing noise coefficient Qcoe、
Angle random walk noise coefficient Ncoe, zero bias unstability noise coefficient Bcoe, angular speed random walk noise coefficient KcoeAnd speed
Rate slope noise coefficient RcoeIt is related；
According to curve graph and Allan varianceFormula (2) is fitted, A is obtained-2,A-1,A0,A1,A2；And root
Random noise coefficient is obtained according to following formula:
Wherein, h expression hour, (°) degree of a representation, (") indicate angle point.
Further, the specific step of azimuth angle error analysis modeling S2: is carried out using random noise item and random noise coefficient
Suddenly are as follows:
S21: if including zero bias unstability noise item, zero bias unstability noise item mark in S1 analysis result
For GB, error magnitude is zero bias unstability noise coefficient Bcoe, communication mode S, zero bias unstability Error weight function
Are as follows:
Wherein, hGB(i-1)The Error weight function for surveying section zero bias unstability noise item for upper one, c indicate that gyro is at the uniform velocity transported
Dynamic speed, Δ DiIndicate range ability interval；
S22: if including angle random walk noise item, angle random walk noise item mark in S1 analysis result
For GN, error magnitude is angle random walk random coefficient Ncoe, communication mode S, angle random walk Error weight function
Are as follows:
Wherein, hGN(i-1)The Error weight function for surveying section angle random walk noise item for upper one, c indicate that gyro is at the uniform velocity transported
Dynamic speed, Δ DiIndicate range ability interval；
S23: if including angular speed random walk noise item, angular speed random walk noise item in S1 analysis result
Mark is GK, and error magnitude is angular speed random walk noise coefficient Kcoe, communication mode S, angular speed random walk error power
Weight function are as follows:
Wherein, hGK(i-1)Indicate that the upper one Error weight function for surveying section angular speed random walk noise item, c indicate that gyro is even
The speed of speed movement, Δ DiIndicate range ability interval；
S24: if including rate ramp noise item in S1 analysis result, rate ramp noise item mark is GR, error
Magnitude is rate ramp noise coefficient Rcoe, communication mode S, rate ramp weighting function are as follows:
Wherein, hGR(i-1)Indicate that the upper one Error weight function for surveying section rate ramp noise item, c indicate gyro uniform motion
Speed, Δ DiIndicate range ability interval；
Communication mode S indicates that system spreads through sex intercourse；
Azimuth angle error, which has just been obtained, by error magnitude, communication mode and the weighting function of every noise analyzes mould
Type.
It can be seen via above technical scheme that compared with prior art, the present disclosure provides one kind to survey for gyro
The error range analysis method of measuring appratus is analyzed using random noise of the Allan variance method to gyro, according to the side Allan
The result selection random noise of difference analysis carries out error modeling, and then calculates the error range of well track position, anti-for wellbore
It touches equal fields and more reliable information is provided.The invention can be selected according to the characteristics of different gyroscopic instruments different random noises into
Row modeling, can be such that model exports, i.e. well track error ellipsoid is more accurate.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 attached drawing is the flow chart provided by the invention that random noise analysis is carried out using Allan variance method.
Fig. 2 attached drawing is to analyze optical fiber gyro random error using Allan variance method under vibration condition provided by the invention to make an uproar
Voice output result, wherein sampling interval 0.1s, acquisition time are 3000s.
Fig. 3 attached drawing is that the magnitude difference of each axis of error ellipsoid under model provided by the invention and ISCWSA model changes song
Line chart.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The embodiment of the invention discloses a kind of error range analysis methods for gyro to measure instrument, with reference to attached drawing 1, tool
Body the following steps are included:
The input of S11:Allan variance is the average angular rate sequence Ω of gyro, it is assumed that sampling interval τi, angular speed sample
This number is Ni, cycling condition i=0, by acquire gyro export to obtain rudimentary horn rate samplesWhereinRudimentary horn rate samples sequence
Column, N0Indicate rudimentary horn rate samples number；
S12: according to the rudimentary horn rate samples sequence got, the calculating sampling interval is τ0When, angular speed sample
Allan varianceI.e.
S13: cycling condition adds 1, i.e. i=1, will double in the sampling interval, i.e. τ1=2 τ0, N1=[N0/ 2], wherein [] is indicated
It is rounded, makees arithmetic mean between adjacent odd even serial number angular speed, i.e.,
Forming new sample interval is τ1Average angular rate sequence (new sampling point sequence), i.e.,
S14: obviously the length of new sampling point sequence halves and (may differ by a data), and the calculating sampling interval is τ1When
Allan variance
S15: cycling condition adds 1, again doubles sampling interval, i.e. τ2=2 τ1, N2=[N1/ 2], wherein [] expression takes
It is whole, it is averaged between adjacent odd even number, i.e.,Form new sampling
Time interval is τ2Average angular rate sequence, i.e.,
S16: according to the new sampling point sequence got, the calculating sampling interval is τ2When, the side Allan of angular speed sample
Difference
S17: repeatedly doubling sampling interval, i.e. τi=2 τi-1, angular speed number of samples Ni=[Ni-1/ 2], until angle
Rate samples number NiLess than 3, stop circulation, obtained average angular rate sequence is
S18: a series of point pair will be obtained till nowThe point is drawn to curve graph, and according to formula
(1) it carries out curve fitting, obtains each coefficient in formula (1)；
Wherein,Indicate quantizing noise Allan variance,Indicate angle random walk noise Allan variance,Indicate zero bias unstability noise Allan variance,Indicate angular speed random walk noise Allan variance,
Indicate rate ramp noise Allan variance, τ indicates sampling time, A-2,A-1,A0,A1,A2Respectively with quantizing noise coefficient Qcoe、
Angle random walk noise coefficient Ncoe, zero bias unstability noise coefficient Bcoe, angular speed random walk noise coefficient KcoeAnd speed
Rate slope noise coefficient RcoeIt is related；
Further according to the coefficient A in formula (1)-2,A-1,A0,A1,A2；Random noise coefficient is obtained in conjunction with following formula:
Wherein, h expression hour, (°) degree of a representation, (") indicate angle point.
It should be noted that these noise items are independent from each other, if including these noise items in gyro output
If, total allan variance of gyro output can add up expression for this several, if related with corresponding noise term coefficient
A-2,A-1,A0,A1,A2Substantially 0, then this noise can be ignored, i.e., do not include this noise in model.
Also, S11~S18 has sequencing, but S21~S24 later is not no sequencing.
Carry out azimuth angle error analysis modeling using random noise item and random noise coefficient, only consider in modeling process with
With time related noise item in machine noise, i.e. angle random walk noise, angular speed random walk noise, rate ramp make an uproar
Sound, zero bias unstability noise.
S21: if including zero bias unstability noise item, zero bias unstability noise item mark in S1 analysis result
For GB, error magnitude is zero bias unstability noise coefficient Bcoe, communication mode S, zero bias unstability Error weight function
Are as follows:
Wherein, hGB(i-1)The Error weight function for surveying the section noise item for upper one.
Zero bias unstability Error weight function derivation process are as follows:
(1), assume that instrument operational process is to travel at the uniform speed, speed c, then in range ability interval delta DiAfterwards, by top
Spiral shell zero bias unstability noise coefficient BcoeCaused by the variable quantity of azimuth angle error can be indicated by formula (S2-1):
Wherein, Δ AiIt is the current azimuth angle error for surveying section, Δ Ai-1It is upper one azimuth angle error for surveying section, BcoeFor zero bias
The error magnitude of unstability random noise item, i.e. the zero bias unstability noise coefficient that S1 is analyzed,
It can be obtained by formula (S2-2) as caused by gyro zero bias unstability in some measuring point azimuthal error.
(2), the instable Error weight function of zero bias, such as formula are determined by the expression formula of azimuth angle error variable quantity
(7) shown in.
S22: if including angle random walk noise item, angle random walk noise item mark in S1 analysis result
For GN, error magnitude is angle random walk random coefficient Ncoe, communication mode S, angle random walk Error weight function
Are as follows:
Wherein, the derivation process of angle random walk Error weight function are as follows:
(1), assume that instrument operational process is to travel at the uniform speed, speed c, then in range ability interval delta DiAfterwards, by angle
Spend random walk coefficient NcoeCaused by the variable quantity of azimuth angle error can be indicated by formula (S2-3):
Wherein, Δ AiIt is the current azimuth angle error for surveying section, Δ Ai-1It is upper one azimuth angle error for surveying section, NcoeFor angle
The error magnitude of random walk random noise item, i.e. the angle random walk noise term coefficient that S1 is analyzed.
It can be obtained by formula (S2-4) as caused by angle random walk in some measuring point azimuthal error.
(2), the weighting function of this error term of bias instaility is determined by the expression formula of azimuth angle error variable quantity, it is such as public
Shown in formula (8).
S23: if including angular speed random walk noise item, angular speed random walk noise item in S1 analysis result
Mark is GK, and error magnitude is angular speed random walk noise coefficient Kcoe, communication mode S, angular speed random walk error power
Weight function are as follows:
Wherein, angular speed random walk error weighting function derivation formula are as follows:
(1), assume that instrument operational process is to travel at the uniform speed, speed c, then in range ability interval delta DiAfterwards, by angle
Spend random walk KcoeCaused by the variable quantity of azimuth angle error can be indicated by formula (S2-5):
Wherein, Δ AiIt is the current azimuth angle error for surveying section, Δ Ai-1It is upper one azimuth angle error for surveying section, KcoeFor angle speed
The error magnitude of rate random walk noise item, i.e. the angular speed random walk noise coefficient that S1 is analyzed.
It can be obtained by formula (S2-6) as caused by angular speed random walk in some measuring point azimuthal error:
(2), the weighting function of this error term of rate random walk is determined by the expression formula of azimuth angle error variable quantity, such as
Shown in formula (9):
S24: if including rate ramp noise item in S1 analysis result, rate ramp noise item mark is GR, error
Magnitude is rate ramp noise coefficient Rcoe, communication mode S, rate ramp weighting function are as follows:
Wherein, rate ramp weighting function derivation process are as follows:
(1), assume that instrument operational process is to travel at the uniform speed, speed c, then in range ability interval delta DiAfterwards, by speed
Rate slope RcoeCaused by the variable quantity of azimuth angle error can be indicated by formula (S2-7):
It can be obtained by formula (S2-8) as caused by rate ramp in some measuring point azimuthal error.
(2), the weighting function of this error term of rate ramp, such as formula are determined by the expression formula of azimuth angle error variable quantity
(10) shown in.
The communication mode S being related to indicates that system spreads through sex intercourse.
It should be noted that the Error weight function of a certain item be a certain error source error magnitude with azimuth angle error it
Between a Transfer Formula, after being aware of the expression formula of azimuth angle error, so that it may derive weighting function, be one superposition
Process.
Azimuth angle error analysis modeling mainly includes error term, error marker, error magnitude, Error weight function and mistake
Poor communication mode, therefore pass through the available azimuth angle error analysis model of S21~S24.
It checks, will be made an uproar using zero bias unstability noise, angle random walk noise, angular speed random walk for convenience
The azimuth angle error analysis model that sound and rate ramp noise obtain is summarized as table 1；
Azimuth angle error analysis model under 1 gyroscopic instrument tie-in mode of table
S3: the uncertainty models under gyroscopic instrument tie-in mode include azimuth angle error analysis model, initial point position
Error range model and hole angle error model, wherein initial point location error range and hole angle error model belong to existing
There is technology, details are not described herein.
Well track field generally assumes that well track location error in normal distribution, then by gyroscopic instrument tie-in mode
Under uncertainty models be overlapped according to error principle of stacking after, three-dimensional wellbore rail can be obtained according to multivariate normal distributions
Mark error range, calculating process can be found in patent CN201510303420.1.
(1) Fig. 2 data exported are analyzed using Allan variance method, obtains optical fibre gyro under random vibration condition
Random noise term coefficient is as shown in table 2:
Noise term coefficient is fitted under 2 vibration condition of table
| It is fitted noise item | Allan variance method fitting result |
| Qcoe | 3.110160 |
| Ncoe | 0.074009 |
| Bcoe | 3.679420 |
| Kcoe | 14.200481 |
| Rcoe | 15.621677 |
(2) under vibration condition well track analysis of uncertainty
The deviational survey data are analyzed using ISCWSA model and improved model provided by the invention respectively, are obtained corresponding
Measuring point at error ellipsoid.Under two kinds of models, error ellipsoid size is as shown in table 3:
The comparison of 3 error ellipsoid size of table
The data that are calculated by table 2 and table 3 and and attached drawing 2 and attached drawing 3 it can be seen from change under random vibration condition
The error ellipsoid size of progressive die type is significantly greater than the error ellipsoid under tradition ISCWSA model, and difference is more obvious and can not neglect
Slightly.
The present invention is analyzed using random noise item of the Allan variance method to gyro, according to the knot of Allan variance analysis
Fruit selects random noise to carry out error modeling, and then calculates the error range of well track position, mentions for fields such as wellbore anti-collisions
It for more reliable information, solves gyro tie-in model and only considers zero bias unstability and angle random walk coefficient, so that accidentally
The problem of difference analysis inaccuracy.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.For device disclosed in embodiment
For, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, related place is said referring to method part
It is bright.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (5)
1. a kind of error range analysis method for gyro to measure instrument, which comprises the following steps:
S1: random noise analysis is carried out to gyro using Allan variance method, obtains random noise item and random noise coefficient；
S2: azimuth angle error analysis model is established using random noise item and random noise coefficient；
S3: azimuth angle error analysis model is utilized, and combines initial point location error range model and hole angle error model
The error model under gyroscopic instrument tie-in mode is constructed, after error model is overlapped according to error principle of stacking, is carried out polynary
Normal distribution obtains well track error range.
2. a kind of error range analysis method for gyro to measure instrument according to claim 1, which is characterized in that
S1: random noise analysis is carried out to gyro using Allan variance method, obtains the specific step of random noise item and random noise coefficient
Suddenly are as follows:
S11: the average angular rate sequence Ω of gyro is inputted, it is assumed that sampling interval τi, angular speed number of samples is Ni, recycle item
Part i=0 exports to obtain rudimentary horn rate samples by acquiring gyro WhereinFor rudimentary horn rate samples sequence, N0Indicate rudimentary horn rate samples number；
S12: according to rudimentary horn rate samples sequence or new sampling point sequence, the calculating sampling interval is τiWhen the corresponding side Allan
Difference
S13: cycling condition adds 1, i=i+1, and the sampling interval doubles τi=2 τi-1, angular speed number of samples halves Ni=[Ni-1/ 2],
[] indicates to be rounded, and makees arithmetic mean between adjacent odd even serial number angular speed sample, obtains new sampling point sequence；
S14: judge angular speed number of samples NiWhether less than 3, if so, then executing S15, it is otherwise back to S12；
S15: sampling interval τ is drawniWith corresponding A llan varianceCurve graph, and obtained according to each sampling interval
Allan varianceIt carries out curve fitting to obtain random noise item and random noise coefficient.
3. a kind of error range analysis method for gyro to measure instrument according to claim 2, which is characterized in that
Allan varianceCalculation formula are as follows:
Wherein,<>indicates to be averaging conceptual data, and K indicates the number of current sample sequence,Table respectively
Show the K+1 value and k-th value of current sample sequence,
4. a kind of error range analysis method for gyro to measure instrument according to claim 3, which is characterized in that draw
Sampling interval τ processediWith corresponding A llan varianceCurve graph, and the Allan variance obtained according to each sampling intervalIt carries out curve fitting to obtain the specific steps of random noise item and random noise coefficient are as follows:
Fitting formula are as follows:
Wherein,Indicate quantizing noise Allan variance,Indicate angle random walk noise Allan variance,
Indicate zero bias unstability noise Allan variance,Indicate angular speed random walk noise Allan variance,It indicates
Rate ramp noise Allan variance, τ indicate sampling time, A-2,A-1,A0,A1,A2Respectively with quantizing noise coefficient Qcoe, angle
Random walk noise coefficient Ncoe, zero bias unstability noise coefficient Bcoe, angular speed random walk noise coefficient KcoeIt is oblique with rate
Slope noise coefficient RcoeIt is related；
According to curve graph and Allan varianceFormula (2) is fitted, A is obtained-2,A-1,A0,A1,A2；And according to
Lower formula obtains every random noise coefficient:
Wherein, h expression hour, (°) degree of a representation, (") indicate angle point.
5. a kind of error range analysis method for gyro to measure instrument according to claim 4, which is characterized in that
S2: the specific steps of azimuth angle error analysis modeling are carried out using random noise item and random noise coefficient are as follows:
S21: if including zero bias unstability noise item in S1 analysis result, zero bias unstability noise item mark is
GB, error magnitude are zero bias unstability noise coefficient Bcoe, communication mode S, zero bias unstability Error weight function are as follows:
Wherein, hGB(i-1)The Error weight function for surveying section zero bias unstability noise item for upper one, c indicate gyro uniform motion
Speed, Δ DiIndicate range ability interval；
S22: if including angle random walk noise item in S1 analysis result, angle random walk noise item mark is
GN, error magnitude are angle random walk random coefficient Ncoe, communication mode S, angle random walk Error weight function are as follows:
Wherein, hGN(i-1)The Error weight function for surveying section angle random walk noise item for upper one, c indicate gyro uniform motion
Speed, Δ DiIndicate range ability interval；
S23: if including angular speed random walk noise item, angular speed random walk noise item mark in S1 analysis result
For GK, error magnitude is angular speed random walk noise coefficient Kcoe, communication mode S, angular speed random walk error weight letter
Number are as follows:
Wherein, hGK(i-1)Indicate that the upper one Error weight function for surveying section angular speed random walk noise item, c indicate that gyro is at the uniform velocity transported
Dynamic speed, Δ DiIndicate range ability interval；
S24: if including rate ramp noise item in S1 analysis result, rate ramp noise item mark is GR, error magnitude
For rate ramp noise coefficient Rcoe, communication mode S, rate ramp weighting function are as follows:
Wherein, hGR(i-1)Indicate that the upper one Error weight function for surveying section rate ramp noise item, c indicate the speed of gyro uniform motion
Degree, Δ DiIndicate range ability interval；
Communication mode S indicates that system spreads through sex intercourse；
Azimuth angle error analysis model has just been obtained by error magnitude, communication mode and the weighting function of every noise.
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| CN111157019A (en) * | 2020-01-06 | 2020-05-15 | 金陵科技学院 | EMD-Allan-based micromechanical gyroscope signal analysis method |
| CN111400907A (en) * | 2020-03-16 | 2020-07-10 | 中南大学 | Unified modeling method for random errors of fiber-optic gyroscope |
| CN111397637A (en) * | 2020-06-01 | 2020-07-10 | 湖南跨线桥航天科技有限公司 | Gyroscope random walk error suppression method of biaxial rotation modulation type navigation system |
| CN112683308A (en) * | 2020-12-16 | 2021-04-20 | 湖南航天机电设备与特种材料研究所 | Random noise estimation method and system for acceleration channel of high-precision rate offset frequency inertial measurement unit |
| CN112729266A (en) * | 2020-12-22 | 2021-04-30 | 陕西航天时代导航设备有限公司 | Analysis method for MEMS gyroscope random error |
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| CN112683308A (en) * | 2020-12-16 | 2021-04-20 | 湖南航天机电设备与特种材料研究所 | Random noise estimation method and system for acceleration channel of high-precision rate offset frequency inertial measurement unit |
| CN112729266A (en) * | 2020-12-22 | 2021-04-30 | 陕西航天时代导航设备有限公司 | Analysis method for MEMS gyroscope random error |
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