CN111551164B - Compensation method for course effect error of rate offset frequency laser gyro north seeker - Google Patents
Compensation method for course effect error of rate offset frequency laser gyro north seeker Download PDFInfo
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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 compensation method for a course effect error of a rate offset frequency laser gyro north seeker, which comprises the following steps: step one, the north seeker carries out east north seeker under an inclined angle; step two, the north seeker carries out northwest north seeker under an inclined angle; step three, solving the constant drift epsilon of the Z-axis equivalent gyroscope of the north seeker z The method comprises the steps of carrying out a first treatment on the surface of the Step four, performing Z-axis equivalent gyro constant drift compensation; and carrying out related calculation such as initial alignment and the like by using the compensated angular velocity, and eliminating heading effect errors. The compensation method for the course effect error of the rate offset frequency laser gyro north seeker can perform equivalent compensation on the scale factor asymmetry error and the gyro constant drift error of the north seeker, thereby eliminating the course error effect and improving the north seeker accuracy.
Description
Technical Field
The invention relates to a navigation technology, in particular to a method for compensating course effect errors of a rate offset frequency laser gyro north seeker.
Background
The north-seeking accuracy of a gyroscope north-seeking instrument is mainly dependent on the accuracy of the gyroscope. Specifically, the method mainly depends on the size 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-seeking method of the rate bias frequency laser gyroscope utilizes the characteristic that random noise of the laser gyroscope is obviously smaller than that of the laser gyroscope under the shaking bias frequency condition under the rate bias frequency condition, so that the laser gyroscope can seek north under the constant-speed bias frequency condition.
The north seeker of the rate offset frequency laser gyro is provided with an indexing mechanism, and the indexing mechanism can drive the inertial measurement unit to rotate around one axial direction of the north seeker (generally the Z axis of the north seeker).
In order to more clearly illustrate the north-seeking process of the rate offset frequency laser gyroscope, five coordinate systems are defined at first: (1) i is an inertial coordinate system; (2) The n system is a navigation coordinate system, generally a local northeast coordinate system; (3) b is a gyro north seeker coordinate system; (4) r is an inertial table coordinate system; and (5) s is an 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 upward direction; the Z axis of the r system is overlapped with the Z axis of the b system, the r system can be driven by an indexing mechanism to freely rotate around the Z axis of the b system, and the rotating angle of the r system around the Z axis of the b system can be measured by a circular grating encoder, a rotary transformer and other angle measuring sensors; the s-system is fixedly connected with the r-system, the vector synthesized by the three coordinate axes of the s-system is overlapped with the Z-axis of the r-system, and the coordinate transformation matrix from the s-system to the r-system is as follows
Generally, during the north seeking process of the rate offset frequency laser gyroscope north seeker, the inertial measurement unit rotates around the Z axis of the b system at a constant angular rate (the rotation angular rate is 30 °/s-50 °/s), and the mechanical shake of the laser gyroscope is in a closed state so as to reduce the random noise of the laser gyroscope.
The north-seeking resolving flow of the rate offset frequency laser gyro north-seeking instrument is generally as follows:
(1) The inertial measurement unit measures the s-system angular velocitySum of specific force f s ；
(2) Will be and fs Conversion to r-line gives ∈ -> and fr ；
(3) By means of and fr Performing initial alignment and other solutions on the r system, and calculating a coordinate transformation matrix of the r system relative to the n system
(4) And then measuring the rotation angle psi of the r system relative to the b system by using an angle measuring sensor, and calculating a coordinate conversion matrix from the b system to the r system:
(5) Calculating the coordinate transformation matrix from b system to n system, namely the attitude matrix
(6) From the slaveAnd (5) calculating pitch, roll and course angles, and further finishing north finding calculation.
The error of the course effect is that when the north seeker is in different courses, the output course angle has deviation with the true course angle, and the deviation has a certain relation with the course of the north seeker, namely the deviation is not constant in different courses.
Generally, the heading effect error is generated by the north seeker under the condition of inclination angle. The error is not projected to the east direction under the horizontal condition of the north seeker, so that the north seeking result is not influenced, however, under the condition of a horizontal dip angle, the error of the angular velocity of the Z axis is projected to the east direction, and the north seeking precision is seriously influenced.
Therefore, the rate offset frequency laser gyro north seeker also eliminates the error sources in a positive and negative rotation mode. Firstly, the indexing mechanism drives the inertial measurement unit to rotate forward at a constant angular rate, and calculates the navigation angleThen the indexing mechanism drives the inertial measurement unit to reversely rotate at the same angular rate, and the course angle is calculated>Finally average the two->The true north value of the rate offset frequency gyro north seeker can be obtained>
Although the rate offset frequency laser gyro north seeker can seek north in a positive and negative rotation mode, most of course effect error sources can be eliminated, course effect errors are reduced, and north seeking precision is improved. However, only by the forward and backward rotation mode, some heading effect error sources are difficult to eliminate, such as asymmetric error of a laser gyro scale factor and drift of an equivalent gyro constant value in the Z axis direction of a gyro north seeker, and for high-precision north seeking, the error sources have to be considered for elimination.
Disclosure of Invention
The invention aims to provide a method for compensating course effect errors of a rate offset frequency laser gyroscope north seeker, which is used for solving the problems in the prior art.
The invention discloses a method for compensating course effect errors of a rate offset frequency laser gyro north seeker, which comprises the following steps: step one, the north seeker carries out east north seeker under an inclined angle; anan (safety)After the north seeker is fixed, the turntable is adjusted to lead the north seeker to point to the east direction, then the north seeker is continuously sought for at least a time, three attitude angles of output obtained by each north seeking are recorded and averaged, and the pitch angle after the averaging is recorded asThe roll angle is +.>Heading angle is +.>The north direction angle is positive in the north direction and is in the range of 0-360 degrees, and the north direction angle is 0 degree when the north finder points north; step two, the north seeker carries out northwest north seeker under an inclined angle; the vertical axis of the turntable rotates 180 degrees, and then the north is continuously searched for at least b times, three attitude angles of output obtained by each north searching are recorded and averaged, and the averaged pitch angle is recorded as +.>The roll angle is +.>Heading angle is +.>Step three, solving the constant drift epsilon of the Z-axis equivalent gyroscope of the north seeker z The method comprises the steps of carrying out a first treatment on the surface of the Step four, performing Z-axis equivalent gyro constant drift compensation; the angular velocity output by the inertial measurement unit is converted into r seriesThe compensation method for the equivalent gyro constant drift of the Z axis of the r system comprises the following steps:and then, carrying out related calculation such as initial alignment and the like by using the compensated angular velocity, and eliminating heading effect errors.
According to one embodiment of the method for compensating the course effect error of the rate offset frequency laser gyro north seeker, firstly, the requirement on a turntable is defined, the measuring precision of the angular position of the turntable is within 3 'and the leveling precision of the turntable is within 30'.
According to the embodiment of the invention, in the first step, the north seeker is fixed on the single-axis turntable, so that the north seeker needs to be lifted along the course direction of the north seeker to have a certain pitch angle, the pitch angle is determined according to the maximum pitch angle of the north seeker, the roll angle of the north seeker is adjusted to be within 1 degree, and then the north seeker is fixed by using structures such as pressing blocks.
According to the embodiment of the method for compensating the course effect error of the north seeker of the rate offset frequency laser gyroscope, in the first step, the north seeker is fixed on the multi-axis turntable, and after the north seeker is fixed by the pressing strip or the pressing block, a certain axis of the turntable is adjusted, so that the north seeker has the same pitch angle and roll angle as those required by being installed on the single-axis turntable.
According to one embodiment of the method for compensating the heading effect error of the rate offset frequency laser gyro north seeker, a=b.
According to one embodiment of the method for compensating the heading effect error of the rate offset frequency laser gyro north seeker, a and b are greater than or equal to 10.
An embodiment of a method for compensating course effect errors of a rate offset frequency laser gyro north seeker according to the invention comprises the following steps of z The solving process comprises the following steps:
ε z ＝ε E /sin(θ)；
wherein ,
ω N ＝ω ie cosL；
ω ie the rotation angle rate of the earth is L, the local geographic latitude is L, and the angle calculation units related to the above are radians.
The compensation method for the course effect error of the rate offset frequency laser gyro north seeker can perform equivalent compensation on the scale factor asymmetry error and the gyro constant drift error of the north seeker, thereby eliminating the course error effect and improving the north seeker accuracy.
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Detailed Description
To make the objects, contents, and advantages of the present invention more apparent, the following detailed description of the present invention will be given with reference to examples.
After the north seeker of the rate offset frequency laser gyro eliminates most error sources through a forward and reverse continuous rotation scheme, the rest error sources mainly comprise Z-axis scale factor asymmetric errors and Z-axis equivalent gyro constant value drift of the north seeker, so that the course effect errors of the north seeker of the rate offset frequency laser gyro are compensated, the two errors are mainly compensated, and the influence of the two errors on the north seeking result is eliminated.
In the north-seeking process of the rate offset frequency laser gyroscope, the indexing mechanism of the north-seeking instrument drives the inertial measurement unit to rotate forward and backward at a constant angular rate, so that the Z-axis equivalent gyro drift caused by the asymmetric error of the scale factors is also constant, and the angular velocity error caused by the error can be equivalent to the gyro constant drift of the north-seeking instrument in the Z-axis direction and can be compensated.
The method for compensating the course effect error of the rate offset frequency laser gyro north seeker comprises the following steps:
the first step of north seeker is used for carrying out northeast north seeker under the inclination angle
First the requirements on the turntable are specified. The compensation method needs a high-precision angular position turntable, can be used for monoaxially or multiaxially, has the angular position measurement precision of the turntable within 3 'and has the leveling precision of the turntable within 30'.
When the north seeker is fixed on the turntable, if the north seeker is fixed on the single-shaft turntable, the north seeker needs to be lifted along the course direction of the north seeker to have a certain pitch angle, the size of the pitch angle is determined according to the maximum pitch angle of the north seeker (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 using structures such as pressing blocks. If the multi-axis turntable is adopted, after the pressing bar or the pressing block for the north seeker is fixed, a certain axis (generally an inner ring axis) of the turntable is adjusted, so that the north seeker has the same pitch angle and roll angle as those required by the installation of the single-axis turntable.
After the north seeker is installed and fixed, the turntable is adjusted to lead the north seeker to point to the east (the north seeker does not need to point to the east accurately and is within 5' of the east), then the north seeker is continuously sought for at least 10 times, three output attitude angles obtained by each north seeking are recorded and averaged, and the pitch angle after the average is recorded as followsThe roll angle is +.>Heading angle is +.>The north direction angle is positive in the north direction and is in the range of 0-360 degrees, and the north direction angle is 0 degree when the north finder points north;
the second step of north seeker carries out northwest north seeker under the inclined angle
The vertical axis of the turntable rotates 180 degrees, and then the north is continuously searched for at least 10 times, three attitude angles of output obtained by each north searching are recorded and averaged, and the pitch angle after the averaging is recorded asThe roll angle is +.>Heading angle is +.>
Thirdly, solving the constant drift of the Z-axis equivalent gyroscope of the north seeker
North seeker Z axial equivalent gyro constant drift epsilon z The process of the calculation is as follows:
ε z ＝ε E /sin(θ)
wherein ,
ω N ＝ω ie cosL
ω ie the rotation angular velocity of the earth, L is the local geographical latitude, and the above-mentioned angle calculation units are radians (rad).
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 Z axis equivalent gyro constant drift is only required to be compensated to the Z axis of the r system.
The angular velocity output by the inertial measurement unit is converted into r series The compensation method for the equivalent gyro constant drift of the Z axis of the r system is as follows
And then, carrying out initial alignment and other related solutions by using the compensated angular velocity to eliminate heading effect errors.
The north seeker of the rate offset frequency laser gyro can eliminate most of course effect error sources through forward and reverse rotation, but still has partial error sources to influence the north seeker precision, which is very unfavorable for high-precision north seeker. The method analyzes two residual error sources affecting the course effect error, namely, the gyro scale factor asymmetry error and the Z-axis equivalent gyro constant drift. And by utilizing the characteristic that an inertial measurement unit rotates at a constant speed in the rate offset frequency north seeking process, the angular velocity error caused by the asymmetric error of the gyro scale factor is also equivalent to the constant value drift of the Z-axis gyro, and then the relationship between the equivalent east gyro drift and the north seeking error of the initial alignment of strapdown inertial navigation is utilized to accurately separate and calculate the constant value drift of the Z-axis gyro and compensate the constant value drift of the Z-axis gyro.
The invention designs a method for compensating the heading effect error of a north seeker of a rate offset frequency laser gyro, which can further eliminate an error source influencing the heading effect error: 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 foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and variations could be made by those skilled in the art without departing from the technical principles of the present invention, and such modifications and variations should also be regarded as being within the scope of the invention.
Claims (5)
1. A method for compensating course effect errors of a rate offset frequency laser gyro north seeker is characterized by comprising the following steps:
step one, the north seeker carries out east north seeker under an inclined angle;
after the north seeker is installed and fixed, the turntable is adjusted to lead the north seeker to point to the east direction, then the north seeker is continuously sought for at least a time, three attitude angles of output obtained by each north seeking are recorded and averaged, and the pitch angle after the averaging is recorded asThe roll angle is +.>Heading angle is +.>The north direction angle is positive in the north direction and is in the range of 0-360 degrees, and the north direction angle is 0 degree when the north finder points north;
step two, the north seeker carries out northwest north seeker under an inclined angle;
the vertical axis of the turntable rotates 180 degrees, and then the north is continuously searched for at least b times, three attitude angles of output obtained by each north searching are recorded and averaged, and the pitch angle after the averaging is recorded asThe roll angle is +.>Heading angle is +.>
Step three, solving the constant drift epsilon of the Z-axis equivalent gyroscope of the north seeker z ；
Step four, performing Z-axis equivalent gyro constant drift compensation;
the angular velocity output by the inertial measurement unit is converted into r seriesThe compensation method for the equivalent gyro constant drift of the Z axis of the r system comprises the following steps:
then, carrying out initial alignment related calculation by using the compensated angular velocity, and eliminating heading effect errors;
wherein ,
the r system is an inertial table coordinate system;
the north seeker is fixed on a single-shaft turntable, the north seeker is required to be lifted along the course direction of the north seeker to have a certain pitch angle, the pitch angle is determined according to the maximum pitch angle of the north seeker, the roll angle of the north seeker is adjusted to be within 1 DEG, and then the north seeker is fixed by a pressing block structure;
in the first step, the north seeker is fixed on the multi-axis turntable, and after the north seeker is fixed by a pressing bar or a pressing block, a certain axis of the turntable is adjusted to enable the north seeker to have the same pitch angle and roll angle as those required by the installation of the north seeker on the single-axis turntable.
2. The method for compensating the heading effect error of the north seeker of the rate offset frequency laser gyroscope according to claim 1, wherein in the first step, the requirement on the turntable is firstly defined, the measuring precision of the angular position of the turntable is within 3 ", and the leveling precision of the turntable is within 30".
3. The method for compensating for error in heading effects of a rate-offset laser gyro north seeker of claim 1 wherein a = b.
4. The method for compensating for error in heading effect of a north-seeker of a rate-offset laser gyroscope of claim 3 wherein a and b are greater than or equal to 10.
5. The compensation of error in heading effect of rate-shifted laser gyro north seeker of claim 1The method is characterized by comprising the following steps of z The solving process comprises the following steps:
ε z ＝ε E /sin(θ)；
wherein ,
ω N ＝ω ie cosL；
ω ie the rotation angle rate of the earth is L, the local geographic latitude is L, and the angle calculation units related to the above are radians.
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| CN114459465B (en) * | 2021-03-02 | 2023-08-22 | 北京天兵科技有限公司 | Online compensation method for MEMS inertial measurement unit azimuth |
| CN113175941B (en) * | 2021-03-31 | 2023-09-22 | 西安理工大学 | Method for identifying parameters of north seeker of laser gyroscope 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 |
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