CN111551164A - Method for compensating course effect error of rate offset frequency laser gyro north seeker - Google Patents
Method for compensating course effect error of rate offset frequency laser gyro north seeker Download PDFInfo
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- CN111551164A CN111551164A CN202010460655.2A CN202010460655A CN111551164A CN 111551164 A CN111551164 A CN 111551164A CN 202010460655 A CN202010460655 A CN 202010460655A CN 111551164 A CN111551164 A CN 111551164A
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- 238000005259 measurement Methods 0.000 claims description 13
- 230000008569 process Effects 0.000 claims description 8
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- 230000007246 mechanism Effects 0.000 description 6
- 239000011159 matrix material Substances 0.000 description 5
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- 238000006243 chemical reaction Methods 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/58—Turn-sensitive devices without moving masses
- G01C19/64—Gyrometers using the Sagnac effect, i.e. rotation-induced shifts between counter-rotating electromagnetic beams
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/18—Stabilised platforms, e.g. by gyroscope
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Abstract
The invention relates to a method for compensating a heading effect error of a rate offset frequency laser gyroscope north seeker, which comprises the following steps: firstly, carrying out northeast seeking by a north seeker under an inclination angle; step two, carrying out northwest direction north seeking by the north seeker under the inclination angle; step three, obtaining Z axial equivalent gyro constant drift of north seekerz(ii) a Step four, Z-axis equivalent gyroscope constant drift compensation is carried out; and performing initial alignment and other related calculation by using the compensated angular speed to eliminate course effect errors. The invention relates to a compensation method for a heading effect error of a rate offset frequency laser gyro north seeker, which can carry out equivalent compensation on a scale factor asymmetry error and a gyro constant drift error of the north seeker, thereby eliminating the heading error effect and improving the north seeking precision of the north seeker.
Description
Technical Field
The invention relates to a navigation technology, in particular to a compensation method for a heading effect error of a rate offset frequency laser gyro north seeker.
Background
The north-seeking precision of the gyro north-seeking instrument mainly depends on the precision of the gyro. Specifically, the method mainly depends on the magnitude of random noise of the gyroscope, and if the random noise is large, the north-seeking precision is poor, and if the random noise is small, the north-seeking precision is high.
The north finder of the rate frequency-offset laser gyro utilizes the characteristic that the random noise of the laser gyro is obviously smaller than that of the laser gyro under the condition of rate frequency offset, so that the laser gyro can find north under the condition of constant rate frequency offset.
The rate frequency offset laser gyro north seeker is provided with a transposition mechanism which can drive an inertia measurement unit to rotate around a certain axial direction of the north seeker (generally, the Z axis of the north seeker).
To illustrate the north-seeking procedure of the rate offset frequency laser gyroscope more clearly, five coordinate systems are defined first: (1) i is an inertial coordinate system; (2) n is a navigation coordinate system, typically a local northeast coordinate system; (3) b is a coordinate system of the gyro north seeker; (4) r is an inertial table coordinate system; (5) s is the inertial measurement unit coordinate system. When the gyro north seeker is in a horizontal condition, the X axis and the Y axis of the b system are in a horizontal state, and the Z axis points to the sky direction; the Z axis of the r system is coincident with the Z axis of the b system, the r system can be driven by the indexing mechanism to rotate freely around the Z axis of the b system, and the angle of the r system rotating around the Z axis of the b system can be measured by an angle measuring sensor such as a circular grating encoder or a rotary transformer; and s is fixedly connected with r, the vector synthesized by three coordinate axes of s is coincident with the Z axis of r, and the coordinate transformation matrix from s to r is
In general, in the north-seeking process of the rate-offset frequency laser gyro, an inertial measurement unit rotates around a Z axis of a b system at a constant angular rate (the rotation angular rate is 30 °/s to 50 °/s), and the mechanical shaking of the laser gyro is in a closed state to reduce the random noise of the laser gyro.
The north-seeking solution process of the rate offset frequency laser gyro north finder is generally as follows:
(1) measuring angular rate of s system by inertial measurement unit
Specific sum force fs；
(2) Will be provided with
and fsConversion to r is
and fr；
(3) By using
and frPerforming initial alignment and other calculation on the r system, and calculating a coordinate transformation matrix of the r system relative to the n system
(4) Then, the angle of rotation psi of the r system relative to the b system is measured by the angle measuring sensor, and a coordinate transformation matrix from the b system to the r system is calculated:
(5) calculating a coordinate transformation matrix from a b system to an n system, namely an attitude matrix
(6) From
And (5) calculating the pitching angle, the rolling angle and the heading angle in the process, and further completing north-seeking calculation.
The heading effect error means that when the north seeker is in different headings, the output heading angle has a deviation from the real heading angle, and the deviation has a certain relation with the heading where the north seeker is located, that is, the deviation is not constant in different heading directions.
Generally speaking, heading effect errors are generated by the north seeker under the condition of inclination. This is because the existence of dynamic errors such as scale factor error, installation error of laser gyroscope, indexing mechanism rotate with great angular velocity can arouse the great angular velocity error of Z axle, and under north seeker level condition, this error can not be projected to the east, consequently can not influence north finding result, and under the condition that has horizontal inclination, Z axle's angular velocity error can be projected to the east, and then seriously influence north finding precision.
Therefore, the rate offset frequency laser gyro north finder can also eliminate the error sources by adopting a positive and negative rotation mode. Firstly, the indexing mechanism drives the inertia measuring unit to rotate positively at a constant angular speed, and calculates the course angle
Then the indexing mechanism drives the inertia measurement unit to reversely rotate at the same angular speed, and then the course angle is calculated
Finally, the two are averaged
The true north orientation value of the rate offset frequency gyro north finder can be obtained
Although the rate offset frequency laser gyro north finder can carry out north finding in a positive and negative rotation mode, most course effect error sources can be eliminated, the course effect error is further reduced, and the north finding precision is improved. However, only by the positive and negative rotation mode, some heading effect error sources are still difficult to eliminate, such as laser gyro scale factor asymmetry error and gyro north seeker Z-axis equivalent gyro constant drift, and for high-precision north seeking requirements, the error sources must be considered to be eliminated.
Disclosure of Invention
The invention aims to provide a method for compensating a heading effect error of a rate offset frequency laser gyro north seeker, which is used for solving the problems in the prior art.
The invention relates to a compensation method for a heading effect error of a rate offset frequency laser gyroscope north seeker, which comprises the following steps: firstly, carrying out northeast seeking by a north seeker under an inclination angle; after the north seeker is installed and fixed, the rotary table is adjusted to enable the north seeker to point to the east direction, then north seeking is carried out for at least a times continuously, three output attitude angles obtained by north seeking each time are recorded and averaged, and the averaged pitch angle is recorded as
The transverse roll angle is
Course angle of
Wherein the heading angle north is positive, the range is 0-360 degrees, and the heading angle is 0 degree when the north finder points to the north; step two, carrying out northwest direction north seeking by the north seeker under the inclination angle; the rotation of the rotation shaft of the rotary table is 180 degrees, the north is searched for at least b times continuously, the output three attitude angles obtained by each north searching are recorded and averaged, and the averaged pitch angle is recorded as
The transverse roll angle is
Course angle of
Step three, obtaining Z axial equivalent gyro constant drift of north seekerz(ii) a Step four, Z-axis equivalent gyroscope constant drift compensation is carried out; the angular velocity output by the inertial measurement unit is converted to r system
Then r isThe compensation method for the constant drift of the equivalent gyroscope on the Z axis comprises the following steps:
and then, performing initial alignment and other related calculation by using the compensated angular speed, and eliminating the course effect error.
According to an embodiment of the method for compensating the heading effect error of the rate offset frequency laser gyro north seeker, firstly, the requirement on the rotary table is determined in the first step, the measurement accuracy of the angular position of the rotary table is within 3 ", and the leveling accuracy of the rotary table is within 30".
According to an embodiment of the method for compensating the heading effect error of the rate offset frequency laser gyro north seeker, in the first step, the north seeker needs to be lifted along the heading direction of the north seeker to enable the north seeker to have a certain pitch angle, the pitch angle is determined according to the maximum pitch angle of the north seeker during working, the roll angle of the north seeker is adjusted to be within 1 degree, and then the north seeker is fixed by a pressing block and other structures.
According to an embodiment of the method for compensating the heading effect error of the rate offset frequency laser gyro north seeker, in the first step, the north seeker is fixed on a multi-axis turntable, and after the north seeker needs to be fixed by a pressing strip or a pressing block, a certain axis of the turntable is adjusted, so that the north seeker has the pitch angle and the roll angle which have the same requirements as those of the pitch angle and the roll angle which are installed on a single-axis turntable.
In an embodiment of the method for compensating the heading effect error of the rate-offset-frequency laser gyro north seeker according to the present invention, a is b.
An embodiment of the method for compensating the heading effect error of the rate-offset-frequency laser gyro north seeker according to the invention is that a and b are greater than or equal to 10.
According to an embodiment of the method for compensating the heading effect error of the rate offset frequency laser gyro north seeker, step three, the Z-axis equivalent gyro constant drift of the north seekerzThe obtaining process comprises the following steps:
z＝E/sin(θ)；
wherein,
ωN＝ωiecosL；
ωiefor the earth rotation angular rate, L is the local geographical latitude, and the above mentioned angle calculation units are all radians.
The invention relates to a compensation method for a heading effect error of a rate offset frequency laser gyro north seeker, which can carry out equivalent compensation on a scale factor asymmetry error and a gyro constant drift error of the north seeker, thereby eliminating the heading error effect and improving the north seeking precision of the north seeker.
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Detailed Description
In order to make the objects, contents, and advantages of the present invention clearer, the following detailed description of the embodiments of the present invention will be given in conjunction with examples.
After most error sources of the rate frequency-offset laser gyro north seeker are eliminated through a forward and reverse continuous rotation scheme, the remaining error sources mainly include Z-axial scale factor asymmetry error of the north seeker and Z-axial equivalent gyro constant drift, so that the course effect error of the rate frequency-offset laser gyro north seeker is compensated mainly by compensating the two errors and eliminating the influence of the two errors on a north seeking result.
Because the indexing mechanism of the rate frequency-offset laser gyroscope drives the inertia measurement unit to rotate in the forward and reverse directions at a constant angular rate in the north-seeking process, the Z-axis equivalent gyroscope drift caused by the asymmetric error of the scale factor is also constant, so that the angular speed error caused by the error can be equivalent to the Z-axis gyroscope constant drift of the north-seeking instrument and compensated together.
The compensation method of the heading effect error of the rate offset frequency laser gyro north seeker comprises the following steps:
the first step of north finder carries out northeast seeking under the condition of inclination angle
Firstly, the requirements for the turntable are defined. The compensation method needs a high-precision angular position rotary table, can adopt a single shaft or multiple shafts, the measurement precision of the angular position of the rotary table is within 3 ", and the leveling precision of the rotary table is within 30".
When the north seeker is fixed on the rotary table, if the north seeker is fixed on the single-shaft rotary table, the north seeker needs to be lifted along the heading direction of the north seeker to enable the north seeker to have a certain pitch angle, the pitch angle is determined according to the maximum pitch angle of the north seeker during working (if the north seeker is required to be used within 5 degrees of the pitch angle, the pitch angle of the north seeker is adjusted to be 5 degrees, the roll angle of the north seeker is adjusted to be within 1 degree, and then the north seeker is fixed by a pressing block and other structures. If a multi-axis turntable is adopted, after the north seeker is fixed by a pressing strip or a pressing block, a certain axis (generally an inner ring axis) of the turntable is adjusted, so that the north seeker has the pitch angle and the roll angle which have the same requirements as those of the pitch angle and the roll angle of the single-axis turntable.
After the north seeker is installed and fixed, the rotary table is adjusted to enable the north seeker to point to the east direction (the north seeker does not need to point to the east direction accurately, and the difference between the north seeker and the east direction is more than 5'), then the north seeker continuously searches for at least 10 times, three output attitude angles obtained by north seeker each time are recorded and averaged, and the averaged pitch angle is recorded as the pitch angle
The transverse roll angle is
Course angle of
Wherein the heading angle north is positive, the range is 0-360 degrees, and the heading angle is 0 degree when the north finder points to the north;
the second step of north finder carries out northwest-oriented north finding under the condition of inclination angle
The rotation of the top shaft of the rotary table is 180 degrees,and then continuously searching north for at least 10 times, recording three output attitude angles obtained by searching north each time, averaging, and recording the averaged pitch angle as
The transverse roll angle is
Course angle of
Thirdly, solving the Z axial equivalent gyro constant drift of the north seeker
Z-axis equivalent gyro constant drift of north seekerzThe calculation process is as follows:
z＝E/sin(θ)
wherein,
ωN＝ωiecosL
ωiel is the geographical latitude of the local place, and the above mentioned angle calculation units are all radians (rads).
Fourth step Z-axis equivalent gyro constant drift compensation
Because the Z axis of the r system is coincident with the Z axis of the north seeker, the equivalent gyro constant drift of the Z axis of the north seeker is the equivalent gyro constant drift of the Z axis of the r system, and the initial alignment solution of the north seeker is carried out on the r system, so that the equivalent gyro constant drift of the Z axis is only required to be compensated to the Z axis of the r system.
With inertial measurement unitThe angular velocity of the output is converted to r system
Then the compensation method for the constant drift of the equivalent gyro on the Z axis of the r system is
And then, the compensated angular velocity is utilized to carry out initial alignment and other related calculation, so that the course effect error can be eliminated.
The rate offset frequency laser gyro north finder can eliminate most heading effect error sources through forward and reverse rotation continuous rotation, but partial error sources still influence north finding precision, which is very unfavorable for high-precision north finding. The method analyzes two residual error sources influencing course effect errors, namely, gyroscope scale factor asymmetric errors and Z-axis equivalent gyroscope constant drift. And the characteristic of uniform rotation of the inertial measurement unit in the rate offset frequency north-seeking process is utilized to enable the angular speed error caused by the asymmetric error of the gyroscope scale factor to be equivalent to the Z-axis gyroscope constant drift, and then the Z-axis gyroscope constant drift is accurately separated and calculated out and compensated by the relationship between the equivalent east-direction gyroscope drift and the north-seeking error initially aligned by strapdown inertial navigation through north-seeking at east-direction and west-direction positions under the condition of an inclination angle.
The invention designs a method for compensating course effect errors of a rate offset frequency laser gyro north seeker, which can further eliminate error sources influencing the course effect errors: the scale factor asymmetry error and the Z-axis equivalent gyro constant drift further improve the north-seeking precision of the rate offset frequency laser gyro north-seeking instrument.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (7)
1. A method for compensating a heading effect error of a rate offset frequency laser gyro north seeker is characterized by comprising the following steps:
firstly, carrying out northeast seeking by a north seeker under an inclination angle;
after the north seeker is installed and fixed, the rotary table is adjusted to enable the north seeker to point to the east direction, then north seeking is carried out for at least a times continuously, three output attitude angles obtained by north seeking each time are recorded and averaged, and the averaged pitch angle is recorded as
The transverse roll angle is
Course angle of
Wherein the heading angle north is positive, the range is 0-360 degrees, and the heading angle is 0 degree when the north finder points to the north;
step two, carrying out northwest direction north seeking by the north seeker under the inclination angle;
the rotation of the rotation shaft of the rotary table is 180 degrees, the north is searched for at least b times continuously, the output three attitude angles obtained by each north searching are recorded and averaged, and the averaged pitch angle is recorded as theta2The transverse rolling angle is
Course angle of
Step three, obtaining Z axial equivalent gyro constant drift of north seekerz；
Step four, Z-axis equivalent gyroscope constant drift compensation is carried out;
the angular velocity output by the inertial measurement unit is converted to r system
Then the compensation method for the constant drift of the equivalent gyro on the Z axis of the r system comprises the following steps:
and then, performing initial alignment and other related calculation by using the compensated angular speed, and eliminating the course effect error.
2. The method of claim 1, wherein the first step is to specify the requirement of the turntable, the measurement accuracy of the angular position of the turntable is within 3 "and the leveling accuracy of the turntable is within 30".
3. The method as claimed in claim 1, wherein in the first step, the north finder is fixed on the single-axis turntable, and is lifted along the heading direction of the north finder to have a certain pitch angle, the pitch angle is determined according to the maximum pitch angle of the north finder, the roll angle of the north finder is adjusted to be within 1 °, and then the north finder is fixed by a pressing block or other structures.
4. The method for compensating for the heading effect error of the rate offset frequency laser gyro north seeker of claim 1, wherein in the first step, the north seeker is fixed on a multi-axis turntable, and after the north seeker is fixed by a batten or a press block, a certain axis of the turntable is adjusted so that the north seeker has the pitch angle and the roll angle which are the same as those of the single-axis turntable.
5. The method of claim 1, wherein a is b.
6. The method of claim 5 wherein a and b are greater than or equal to 10.
7. The method of claim 1, wherein the step three north seeker Z-axis equivalent gyro constant drift compensation methodzThe obtaining process comprises the following steps:
z＝E/sin(θ)；
wherein,
ωN＝ωiecosL；
ωiefor the earth rotation angular rate, L is the local geographical latitude, and the above mentioned angle calculation units are all radians.
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| CN113175941A (en) * | 2021-03-31 | 2021-07-27 | 西安理工大学 | Laser gyro north seeker parameter identification method based on double-shaft turntable |
| CN114001754A (en) * | 2021-10-29 | 2022-02-01 | 北京航天发射技术研究所 | Course adjusting method, course adjusting device, readable medium and north seeker |
| CN114459465A (en) * | 2021-03-02 | 2022-05-10 | 北京天兵科技有限公司 | Online compensation method for MEMS inertial measurement unit orientation |
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