CN116048146B - Angular velocity smooth control method for inertial navigation of rotary fiber-optic gyroscope - Google Patents

Angular velocity smooth control method for inertial navigation of rotary fiber-optic gyroscope Download PDF

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CN116048146B
CN116048146B CN202310338277.4A CN202310338277A CN116048146B CN 116048146 B CN116048146 B CN 116048146B CN 202310338277 A CN202310338277 A CN 202310338277A CN 116048146 B CN116048146 B CN 116048146B
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angular velocity
time
phase
indicating
carrier
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CN116048146A (en
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马林
张永宾
李德春
胡小毛
刘伯晗
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707th Research Institute of CSIC
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
    • G05D13/62—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover characterised by the use of electric means, e.g. use of a tachometric dynamo, use of a transducer converting an electric value into a displacement
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Abstract

The invention belongs to the technical field of fiber optic gyroscopes, and relates to an angular velocity for inertial navigation of a rotating fiber optic gyroscopeA method for controlling degree smoothing. Aiming at the modulation process, digital control is adopted, and a linear angular acceleration algorithm or an S-shaped angular acceleration algorithm is used for obtaining the target modulation angular velocity
Figure ZY_1
Then, if the target modulation angular velocity is lower than 10 DEG/s, planning in advance according to a linear angular acceleration algorithm, and giving a smoother command angular velocity according to a control period
Figure ZY_2
If the target modulation angular velocity is higher than 10 DEG/S, planning in advance according to an S-shaped angular acceleration algorithm, and giving a smoother command angular velocity according to a control period
Figure ZY_3
。

Description

Angular velocity smooth control method for inertial navigation of rotary fiber-optic gyroscope
Technical Field
The invention belongs to the technical field of fiber optic gyroscopes, and particularly relates to an angular velocity smooth control method for inertial navigation of a rotating fiber optic gyroscope.
Background
The rotary inertial navigation system can be classified into a single-axis system, a double-axis system, a three-axis system, and the like according to the number of rotating shafts. Each type of rotational inertial navigation system corresponds to a plurality of rotation modulation schemes matched with the rotational inertial navigation system, and common rotation stopping schemes such as a continuous rotation scheme, a forward rotation scheme, a reverse rotation scheme, a four-order scheme, an eight-order scheme, a sixteen-order scheme, a twenty-order scheme, a sixty-four-order scheme and the like are adopted (Liu Yi. Research on a single-axis rotation modulation mode and an alignment method of an optical inertial group is [ D ]. Harbin industrial university, 2015, zhou Zhaofeng, wang Xinlong, cai Yuanwen. Design scheme of a double-axis rotation modulation optimal indexing sequence [ J ]. Aviation weapon, 2020, 27 (1): 8 ]; guan BF, liSH, fu QW. Research on Rotation Scheme ofHybrid Inertial Navigation System with Three Rotating Axes [ C ]// 2020 27th SaintPetersburg International Conference on Integrated Navigation Systems (ICINS): 2020.).
The above-mentioned modulation schemes all involve frequent start-stop and reversing operations, but the difficulty of start-stop and reversing in motor control is high, overshoot, impact, oscillation and the like are easy to generate, and the overshoot error and angle error of the related process can negatively affect the high-precision navigation system. In order to meet the requirements of stable rotation, high-precision rotation angle movement and the like of the motor in the starting, stopping and reversing processes, a part of scholars develop researches related to motor control strategies. Closed loop control systems based on parameter self-tuning fuzzy-PI were designed, e.g., miao Lingjuan, to improve system robustness and steady state accuracy (Miao Lingjuan, hu Yong, shen Jun. Application of parameter self-tuning fuzzy-PI controllers in indexing control systems [ J ]. University of beijing university of technology, 2013 (3): 5.). Zhao Duihui and the like propose a fuzzy self-adaptive PID control method (Zhao Duihui, chen Gu, han Yongjiang, and the like) aiming at the possible interference moment working condition generated in the rotation process of the continuous rotary north seeker. However, the algorithm does not consider the forward and reverse rotation, start and stop in other rotation modulation. Liu Fang and the like, a motor control method combining PID control and open loop control is proposed to improve the accuracy of the motor during forward and reverse rotation (Liu Fang, wang Wei, zhang Zhongyi. A rotation control method for a rotation modulation strapdown inertial navigation system [ J ]. Motor and control journal, 2012, 16 (11): 5.). However, the above methods only consider the control of the motor servo link, and do not consider the modulation angular velocity and the smoothness of the command output when isolating the carrier motion.
Disclosure of Invention
The invention aims to solve the technical problems that the angular velocity cannot be modulated and the instruction output is isolated when a carrier moves by providing the angular velocity smooth control method for the inertial navigation of the rotary optical fiber gyroscope.
In order to solve the technical problems, the invention adopts the following technical scheme.
The invention provides an angular velocity smooth control method for inertial navigation of a rotary fiber-optic gyroscope, which comprises the following steps: for the modulation process, a digital control is used,using linear angular acceleration algorithm to obtain target modulation angular velocity
Figure SMS_1
Then, planning in advance according to a linear angular acceleration algorithm, and giving smoother command angular velocity according to a control period>
Figure SMS_2
The linear angular acceleration algorithm has the formula: />
Figure SMS_3
，
In the method, in the process of the invention,
Figure SMS_6
representation->
Figure SMS_8
Real-time command angular velocity at time one, < +.>
Figure SMS_10
Representing the target modulation angular velocity,/->
Figure SMS_5
Indicating acceleration section angular acceleration +.>
Figure SMS_7
Representing the run time of the first phase, +.>
Figure SMS_9
Representing the run time of the second phase, +.>
Figure SMS_11
Indicating the run time of the third phase, +.>
Figure SMS_4
Indicating the time of modulation.
The invention provides an angular velocity smooth control method for inertial navigation of a rotary fiber-optic gyroscope, which comprises the following steps:
for modulation ofThe digital control is adopted, and the S-shaped angular acceleration algorithm is used for acquiring the target modulation angular velocity
Figure SMS_12
Then planning in advance according to an S-shaped angular acceleration algorithm, and giving smoother command angular velocity according to a control period
Figure SMS_13
The second formula of the S-shaped angular acceleration algorithm is:
Figure SMS_14
，
in the method, in the process of the invention,
Figure SMS_31
representation->
Figure SMS_34
Real-time command angular velocity at time one, < +.>
Figure SMS_38
Representing the target modulation angular velocity,/->
Figure SMS_17
Indicating acceleration section angular acceleration +.>
Figure SMS_28
Indicating acceleration of acceleration segment angle ++>
Figure SMS_35
Representing the run time of the first phase, +.>
Figure SMS_40
Representing the run time of the second phase, +.>
Figure SMS_18
Indicating the run time of the third phase, +.>
Figure SMS_21
Indicating the run time of the fourth phase, +.>
Figure SMS_24
Representing the run time of the fifth phase, +.>
Figure SMS_27
Indicating the run time of the sixth phase, +.>
Figure SMS_26
Indicating the run time of the seventh phase, +.>
Figure SMS_30
Time of modulation, +.>
Figure SMS_33
Represents the end angular velocity of the first phase, +.>
Figure SMS_37
Indicating the end angular velocity of the second phase, +.>
Figure SMS_29
Indicating the end angular velocity of the third phase, +.>
Figure SMS_32
Indicating the end angular velocity of the fourth phase, +.>
Figure SMS_36
Indicating the end angular velocity of the fifth phase, +.>
Figure SMS_39
Indicating the end angular velocity of the sixth phase, +.>
Figure SMS_15
Indicating the end time of the first phase, +.>
Figure SMS_20
Indicating the end time of the second phase, +.>
Figure SMS_23
Indicating the end time of the third phase, +.>
Figure SMS_25
Indicating the end time of the fourth phase, +.>
Figure SMS_16
Indicating the end time of the fifth phase, +.>
Figure SMS_19
Indicating the end time of the sixth phase, +.>
Figure SMS_22
Indicating the end time of the seventh phase.
The invention provides an angular velocity smooth control method for inertial navigation of a rotary fiber-optic gyroscope, which comprises the following steps:
aiming at the modulation process, digital control is adopted, and a linear angular acceleration algorithm or an S-shaped angular acceleration algorithm is used for obtaining the target modulation angular velocity
Figure SMS_41
Then, if the target modulation angular velocity is lower than 10 DEG/s, planning in advance according to a linear angular acceleration algorithm, and giving a smoother command angular velocity according to a control period>
Figure SMS_42
The linear angular acceleration algorithm has the formula:
Figure SMS_43
，
Figure SMS_45
representation->
Figure SMS_48
Real-time command angular velocity at time one, < +.>
Figure SMS_51
Representing the target modulation angular velocity,/->
Figure SMS_46
Indicating acceleration section angular acceleration +.>
Figure SMS_47
Representing the run time of the first phase, +.>
Figure SMS_50
Representing the run time of the second phase, +.>
Figure SMS_52
Indicating the run time of the third phase, +.>
Figure SMS_44
Representing the modulation time, if the target modulation angular velocity is higher than 10 DEG/S, planning in advance according to an S-type angular acceleration algorithm, and giving a smoother command angular velocity +/according to a control period>
Figure SMS_49
The second formula of the S-shaped angular acceleration algorithm is:
Figure SMS_53
，
in the method, in the process of the invention,
Figure SMS_70
representation->
Figure SMS_73
Real-time command angular velocity at time one, < +.>
Figure SMS_76
Representing the target modulation angular velocity,/->
Figure SMS_56
Indicating acceleration section angular acceleration +.>
Figure SMS_61
Indicating acceleration of acceleration segment angle ++>
Figure SMS_63
Representing the run time of the first phase, +.>
Figure SMS_66
Representing the run time of the second phase, +.>
Figure SMS_67
Indicating the run time of the third phase, +.>
Figure SMS_71
Indicating the run time of the fourth phase, +.>
Figure SMS_74
Representing the run time of the fifth phase, +.>
Figure SMS_77
Indicating the run time of the sixth phase, +.>
Figure SMS_72
Indicating the run time of the seventh phase, +.>
Figure SMS_75
Time of modulation, +.>
Figure SMS_78
Represents the end angular velocity of the first phase, +.>
Figure SMS_79
Indicating the end angular velocity of the second phase, +.>
Figure SMS_57
Indicating the end angular velocity of the third phase, +.>
Figure SMS_59
Indicating the end angular velocity of the fourth phase, +.>
Figure SMS_65
Indicating the end angular velocity of the fifth phase, +.>
Figure SMS_68
Indicating the end angular velocity of the sixth phase, +.>
Figure SMS_54
Indicating the end time of the first phase, +.>
Figure SMS_60
Indicating the end time of the second phase, +.>
Figure SMS_64
Indicating the end time of the third phase, +.>
Figure SMS_69
Indicating the end time of the fourth phase, +.>
Figure SMS_55
Indicating the end time of the fifth phase, +.>
Figure SMS_58
Indicating the end time of the sixth phase, +.>
Figure SMS_62
Indicating the end time of the seventh phase.
The angular velocity smooth control method for the rotational fiber optic gyroscope inertial navigation provided by the invention further comprises the following steps:
Figure SMS_97
time carrier angular velocity->
Figure SMS_99
The method is obtained by the following formula III and formula IV, wherein the formula III is as follows:
Figure SMS_105
wherein->
Figure SMS_81
Time of presentation->
Figure SMS_86
The inertial coordinate system is represented by a coordinate system,
Figure SMS_88
representing the gyro body coordinate system,/->
Figure SMS_93
Representing the earth coordinate system, < >>
Figure SMS_83
Representing a navigation coordinate system,/->
Figure SMS_85
Representing the carrier coordinate system,/->
Figure SMS_91
Representation->
Figure SMS_95
Time->
Figure SMS_100
Is relative to->
Figure SMS_103
The angular velocity of the system is->
Figure SMS_107
Projection under the system, ++>
Figure SMS_109
Representation->
Figure SMS_96
Time->
Figure SMS_101
Is relative to->
Figure SMS_104
The angular velocity of the system is->
Figure SMS_108
Projection under the system, ++>
Figure SMS_80
Representation->
Figure SMS_87
Time->
Figure SMS_89
Is relative to->
Figure SMS_92
The angular velocity of the system is->
Figure SMS_82
Projection under the system, ++>
Figure SMS_84
Representation->
Figure SMS_90
Carrier angular velocity at time,/->
Figure SMS_94
Representation->
Figure SMS_98
A modulation angular velocity at a time; from the principle of inertial navigation, it is known that +.>
Figure SMS_102
And->
Figure SMS_106
The solution can be performed according to the following equation IV:
Figure SMS_110
，
in the method, in the process of the invention,
Figure SMS_120
is->
Figure SMS_113
Time->
Figure SMS_117
Is relative to->
Figure SMS_124
Conversion matrix of the system>
Figure SMS_126
Is->
Figure SMS_125
The rotational angular velocity of the earth at the moment is constant,/->
Figure SMS_128
Is->
Figure SMS_123
Latitude of time carrier,/-, and>
Figure SMS_127
is->
Figure SMS_111
Time carrier east speed, & lt & gt>
Figure SMS_118
Is->
Figure SMS_114
Time carrier north speed,/->
Figure SMS_116
Is the earth radius; according to the formula III and the formula IV, the +.>
Figure SMS_119
Angular velocity produced by the time carrier, wherein +.>
Figure SMS_122
Is relative to->
Figure SMS_112
The angular velocity of the system is->
Figure SMS_115
Projection under the system->
Figure SMS_121
The calculation formula five of (a) is as follows:
.
Figure SMS_129
the carrier angular velocity is determined>
Figure SMS_130
。
The carrier angular velocity determined at this time
Figure SMS_131
The application of the reverse angular velocity can be carried out in the following control cycle to achieve carrier motion isolation, i.e. without taking into account abrupt motion, at the next moment +.>
Figure SMS_132
At the time of real-time instruction angular velocity two +.>
Figure SMS_133
The formula six of (2) is:
Figure SMS_134
，
Figure SMS_135
representation->
Figure SMS_136
Real-time command angular velocity at time one, < +.>
Figure SMS_137
，/>
Figure SMS_138
Is->
Figure SMS_139
And a second angular velocity is instructed in real time at the moment.
The angular velocity smooth control method for the rotational fiber optic gyroscope inertial navigation provided by the invention further comprises the following steps: obtaining
Figure SMS_140
Time carrier angular velocity->
Figure SMS_141
After that, according to the threshold->
Figure SMS_142
For superimposed carrier angular velocity->
Figure SMS_143
The calculation is performed as follows: />
Figure SMS_144
，
In the method, in the process of the invention,
Figure SMS_148
representation->
Figure SMS_152
Is (are) mould>
Figure SMS_156
For the carrier angular velocity to be superimposed actually, +.>
Figure SMS_146
For accelerating the angular acceleration of the segment +.>
Figure SMS_149
For permissible abrupt angular acceleration, +.>
Figure SMS_153
Is->
Figure SMS_157
Multiple of>
Figure SMS_145
For modulating the control period>
Figure SMS_151
Is->
Figure SMS_154
A real-time command angular velocity II of the moment according to a formula seven
Figure SMS_158
Calculating the carrier angular velocity to be superimposed actually +.>
Figure SMS_147
Substitution of +.>
Figure SMS_150
Calculate->
Figure SMS_155
Real-time command angular velocity two of moment
Figure SMS_159
。
The angular velocity smooth control method for the rotational fiber optic gyroscope inertial navigation provided by the invention further comprises the following steps: when (when)
Figure SMS_160
Is greater than->
Figure SMS_161
When only +.>
Figure SMS_162
And a part of the angular velocity still remains uncompensated, i.e. equation eight: />
Figure SMS_163
，
Figure SMS_166
Is->
Figure SMS_169
The angular velocity of the carrier which is not compensated at any moment; for->
Figure SMS_170
In the next modulation control period, in +.>
Figure SMS_165
Time of day, if present->
Figure SMS_168
Less than->
Figure SMS_171
Then at +.>
Figure SMS_172
Time pair->
Figure SMS_164
Carrier angular velocity uncompensated at the moment +.>
Figure SMS_167
Compensation is performed, and the compensation process can be expressed as:
Figure SMS_173
，
Figure SMS_174
is->
Figure SMS_175
Time-of-day real-time command angular velocity two,/and/or>
Figure SMS_176
Is->
Figure SMS_177
Carrier angular velocity not compensated for at the moment +.>
Figure SMS_178
For permissible abrupt angular acceleration, +.>
Figure SMS_179
For modulation control periods.
The invention also provides a fiber optic gyroscope, which comprises the fiber optic ring manufactured by the angular velocity smooth control method facing the inertial navigation of the rotary fiber optic gyroscope.
The beneficial effects of the invention are as follows:
1) For the modulation process, digital control is adopted, a linear angular acceleration algorithm is used, and the target modulation angular velocity is obtained
Figure SMS_180
Then, planning in advance according to a linear angular acceleration algorithm, and giving smoother command angular velocity according to a control period>
Figure SMS_181
The linear angular acceleration algorithm is simple, the calculated amount is small, and the response speed is high.
2) The linear angular acceleration algorithm is suitable for target modulation angular velocity
Figure SMS_182
In smaller occasions, the acceleration speed of the S-shaped angular acceleration algorithm can be continuously changed, the motor or structure vibration caused by acceleration mutation can be effectively reduced, the following precision of a servo system is improved, and the method is suitable for target modulation angular speed +.>
Figure SMS_183
Larger cases.
3) At the target modulation angular velocity
Figure SMS_184
When the angle is lower than 10 degrees/S, a linear angular acceleration algorithm can be adopted, so that the calculation efficiency and the system response speed are improved, and when the angle is higher than 10 degrees/S, an S-shaped angular acceleration algorithm can be adopted, the system following performance is improved, and the high-precision control is ensured.
4) Real-time instruction angular velocity II for superposition isolation carrier movement
Figure SMS_185
The maximum angular acceleration produced does not exceed the acceleration section angular acceleration + ->
Figure SMS_186
And->
Figure SMS_187
For permissible abrupt angular acceleration->
Figure SMS_188
A kind of electronic device.
5) Ensure that the superposition of the angular velocities of the motion isolation carriers does not generate infinite angular acceleration, and realize real-time instruction of second angular velocity under the motion isolation of the carriers
Figure SMS_189
Smooth output and ensures the stability of rotation modulation.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the invention, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a graph of the target modulation angular velocity versus time for the prior art of the present invention.
Fig. 2 is an angular acceleration corresponding to the target modulation angular velocity in fig. 1.
Fig. 3 is an algorithmic derivative of linear angular acceleration.
Fig. 4 is an algorithm derivative of the S-type angular acceleration.
Fig. 5 is a graph of the real-time commanded angular velocity versus angular acceleration of fig. 1 using a linear angular acceleration algorithm.
Fig. 6 is a graph of the real-time commanded angular velocity one and angular acceleration after the algorithm of fig. 1 using S-type angular acceleration.
Fig. 7 shows the abrupt change after the commanded angular velocity and the superimposed carrier angular velocity.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention. The following examples are illustrative of the invention but are not intended to limit the scope of the invention.
The invention is described below in connection with the accompanying drawings 1-7 of the specification.
Example 1: the angular velocity smooth control method for the inertial navigation of the rotary fiber-optic gyroscope is characterized by comprising the following steps of:
for the modulation process, digital control is adopted, a linear angular acceleration algorithm is used, and the target modulation angular velocity is obtained
Figure SMS_190
Then, planning in advance according to a linear angular acceleration algorithm, and giving smoother command angular velocity according to a control period>
Figure SMS_191
The linear angular acceleration algorithm has the formula:
Figure SMS_192
，
in the method, in the process of the invention,
Figure SMS_194
representation->
Figure SMS_196
Real-time command angular velocity at time one, < +.>
Figure SMS_199
Representing the target modulation angular velocity,/->
Figure SMS_195
Indicating acceleration section angular acceleration +.>
Figure SMS_197
Representing operation of the first stageTime (F)>
Figure SMS_198
Representing the run time of the second phase, +.>
Figure SMS_200
Indicating the run time of the third phase, +.>
Figure SMS_193
Indicating the time of modulation.
The conventional rotation modulation generally adopts a rotation-stop combination mode, as shown in fig. 1, namely, according to the target modulation angular velocity
Figure SMS_201
Rotate for a period of time and then stop for a period of time and then modulate the angular velocity +/according to the target>
Figure SMS_202
And rotating for a period of time, and sequentially performing the steps. If the target modulation angular velocity shown in fig. 1 is given directly +.>
Figure SMS_203
The angular acceleration of which is shown in FIG. 2, it can be seen from FIG. 2 that the target modulation angular velocity is +_, in each segment>
Figure SMS_204
Angular acceleration generated at the beginning and end of +.>
Figure SMS_205
Are infinite, which easily causes phenomena such as overshoot and oscillation of the rotating shaft (WangTY, zhang YB, dong JC, ke RJ, ding YY. NURBS interpolator withadaptive smooth feedrate scheduling and minimal feedrate fluctuation [ J)]International Journal of Precision Engineering and Manufacturing, 2020, 21:273-290.) affects the modulation effect of the rotation.
Aiming at the modulation process, the method adopts the idea of digital control, uses a linear angular acceleration algorithm, and improves the control effect. The linear angular acceleration algorithm is simple, the calculated amount is small, and the response speed is high. Fig. 3 is an algorithmic derivative of linear angular acceleration.
Example 2: the angular velocity smooth control method for the inertial navigation of the rotary fiber-optic gyroscope is characterized by comprising the following steps of:
for the modulation process, digital control is adopted, and an S-shaped angular acceleration algorithm is used for obtaining the target modulation angular velocity
Figure SMS_206
Then planning in advance according to an S-shaped angular acceleration algorithm, and giving smoother command angular velocity according to a control period
Figure SMS_207
The second formula of the S-shaped angular acceleration algorithm is:
Figure SMS_208
，/>
in the method, in the process of the invention,
Figure SMS_211
representation->
Figure SMS_214
Real-time command angular velocity at time one, < +.>
Figure SMS_217
Representing the target modulation angular velocity,/->
Figure SMS_210
Indicating acceleration section angular acceleration +.>
Figure SMS_216
Indicating acceleration of acceleration segment angle ++>
Figure SMS_219
Representing the run time of the first phase, +.>
Figure SMS_223
Representing the run time of the second phase, +.>
Figure SMS_212
Indicating the run time of the third phase, +.>
Figure SMS_215
Indicating the run time of the fourth phase, +.>
Figure SMS_218
Representing the run time of the fifth phase, +.>
Figure SMS_222
Indicating the run time of the sixth phase, +.>
Figure SMS_221
Indicating the run time of the seventh phase, +.>
Figure SMS_225
Time of modulation, +.>
Figure SMS_228
Represents the end angular velocity of the first phase, +.>
Figure SMS_231
Indicating the end angular velocity of the second phase, +.>
Figure SMS_226
Indicating the end angular velocity of the third phase, +.>
Figure SMS_229
Indicating the end angular velocity of the fourth phase, +.>
Figure SMS_232
Indicating the end angular velocity of the fifth phase, +.>
Figure SMS_234
Indicating the end angular velocity of the sixth phase, +.>
Figure SMS_209
Indicating the end time of the first phase, +.>
Figure SMS_213
Indicating the end time of the second phase, +.>
Figure SMS_220
Indicating the end time of the third phase, +.>
Figure SMS_224
Indicating the end time of the fourth phase, +.>
Figure SMS_227
Indicating the end time of the fifth phase, +.>
Figure SMS_230
Indicating the end time of the sixth phase, +.>
Figure SMS_233
Indicating the end time of the seventh phase.
Fig. 4 is an algorithm derivative of the S-type angular acceleration. The linear angular acceleration algorithm is suitable for target modulation angular velocity
Figure SMS_235
In smaller occasions, the acceleration speed of the S-shaped angular acceleration algorithm can be continuously changed, the motor or structure vibration caused by acceleration mutation can be effectively reduced, the following precision of a servo system is improved, and the method is suitable for target modulation angular speed +.>
Figure SMS_236
Larger cases.
Example 3: the angular velocity smooth control method for the inertial navigation of the rotary fiber-optic gyroscope is characterized by comprising the following steps of:
aiming at the modulation process, digital control is adopted, and a linear angular acceleration algorithm or an S-shaped angular acceleration algorithm is used for obtaining the target modulation angular velocity
Figure SMS_237
Then, if the target modulation angular velocity is lower than 10 DEG/s, advancing according to a linear angular acceleration algorithmPlanning and giving a smoother command angular velocity according to the control period>
Figure SMS_238
The linear angular acceleration algorithm has the formula:
Figure SMS_239
，
in the method, in the process of the invention,
Figure SMS_242
representation->
Figure SMS_243
Real-time command angular velocity at time one, < +.>
Figure SMS_246
Representing the target modulation angular velocity,/->
Figure SMS_241
Indicating acceleration section angular acceleration +.>
Figure SMS_244
Representing the run time of the first phase, +.>
Figure SMS_247
Representing the run time of the second phase, +.>
Figure SMS_248
Indicating the run time of the third phase, +.>
Figure SMS_240
Representing the modulation time, if the target modulation angular velocity is higher than 10 DEG/S, planning in advance according to an S-type angular acceleration algorithm, and giving a smoother command angular velocity +/according to a control period>
Figure SMS_245
The second formula of the S-shaped angular acceleration algorithm is: />
Figure SMS_249
，
In the method, in the process of the invention,
Figure SMS_267
representation->
Figure SMS_271
Real-time command angular velocity at time one, < +.>
Figure SMS_273
Representing the target modulation angular velocity,/->
Figure SMS_251
Indicating acceleration section angular acceleration +.>
Figure SMS_257
Indicating acceleration of acceleration segment angle ++>
Figure SMS_261
Representing the run time of the first phase, +.>
Figure SMS_263
Representing the run time of the second phase, +.>
Figure SMS_262
Indicating the run time of the third phase, +.>
Figure SMS_266
Indicating the run time of the fourth phase, +.>
Figure SMS_269
Representing the run time of the fifth phase, +.>
Figure SMS_272
Indicating the run time of the sixth phase, +.>
Figure SMS_268
Indicating the run time of the seventh phase, +.>
Figure SMS_270
Time of modulation, +.>
Figure SMS_274
Represents the end angular velocity of the first phase, +.>
Figure SMS_275
Indicating the end angular velocity of the second phase, +.>
Figure SMS_253
Indicating the end angular velocity of the third phase, +.>
Figure SMS_256
Indicating the end angular velocity of the fourth phase, +.>
Figure SMS_260
Indicating the end angular velocity of the fifth phase, +.>
Figure SMS_264
Indicating the end angular velocity of the sixth phase, +.>
Figure SMS_250
Indicating the end time of the first phase, +.>
Figure SMS_255
Indicating the end time of the second phase, +.>
Figure SMS_259
Indicating the end time of the third phase, +.>
Figure SMS_265
Indicating the end time of the fourth phase, +.>
Figure SMS_252
Indicating the end time of the fifth phase, +.>
Figure SMS_254
Indicating the end time of the sixth phase, +.>
Figure SMS_258
Indicating the end time of the seventh phase.
It is found through experiments that the angular velocity is modulated at the target
Figure SMS_276
When the angle is lower than 10 degrees/S, a linear angular acceleration algorithm can be adopted, so that the calculation efficiency and the system response speed are improved, and when the angle is higher than 10 degrees/S, an S-shaped angular acceleration algorithm can be adopted, the system following performance is improved, and the high-precision control is ensured.
According to the above algorithm, when the target modulation angular velocity
Figure SMS_277
Below 10 deg/s, a linear angular acceleration algorithm is adopted, and the corresponding modulation process of fig. 1 adopts real-time command angular velocity I after linear angular acceleration>
Figure SMS_278
And angular acceleration->
Figure SMS_279
As shown in fig. 5. When the modulation angular velocity is higher than 10 degrees/S, an S-shaped angular acceleration algorithm is adopted, and the corresponding modulation process of FIG. 1 adopts a real-time instruction angular velocity I after the S-shaped angular acceleration algorithm>
Figure SMS_280
And angular acceleration->
Figure SMS_281
As shown in fig. 6.
Example 4: modifications were made on the basis of example 1 or example 2 or example 3. The method also comprises the following steps:
Figure SMS_282
time carrier angular velocity->
Figure SMS_283
The method is obtained by the following formula III and formula IV, wherein the formula III is as follows:
Figure SMS_299
wherein->
Figure SMS_302
Time of presentation->
Figure SMS_305
Representing the inertial coordinate system, +.>
Figure SMS_285
Representing the gyro body coordinate system,/->
Figure SMS_289
Representing the earth coordinate system, < >>
Figure SMS_292
Representing a navigation coordinate system,/->
Figure SMS_296
Representing the carrier coordinate system,/->
Figure SMS_287
Representation->
Figure SMS_291
Time->
Figure SMS_293
Is relative to->
Figure SMS_297
The angular velocity of the system is->
Figure SMS_303
Projection under the system, ++>
Figure SMS_306
Representation->
Figure SMS_308
Time->
Figure SMS_310
Is relative to->
Figure SMS_304
The angular velocity of the system is->
Figure SMS_307
Projection under the system, ++>
Figure SMS_309
Representation->
Figure SMS_311
Time->
Figure SMS_284
Is relative to->
Figure SMS_288
The angular velocity of the system is->
Figure SMS_295
Projection under the system, ++>
Figure SMS_301
Representation->
Figure SMS_286
Carrier angular velocity at time,/->
Figure SMS_290
Representation->
Figure SMS_294
A modulation angular velocity at a time; from the principle of inertial navigation, it is known that +.>
Figure SMS_298
And->
Figure SMS_300
The solution can be performed according to the following equation IV:
Figure SMS_312
，
in the method, in the process of the invention,
Figure SMS_321
is->
Figure SMS_315
Time->
Figure SMS_317
Is relative to->
Figure SMS_325
Conversion matrix of the system>
Figure SMS_328
Is->
Figure SMS_331
Time e is relative to->
Figure SMS_333
The angular velocity of the system is->
Figure SMS_322
Projection under the system, i.e. the rotational angular velocity of the earth, is constant, +.>
Figure SMS_326
Is->
Figure SMS_313
The latitude of the carrier is located at the moment,
Figure SMS_318
is->
Figure SMS_316
Time carrier east speed, & lt & gt>
Figure SMS_319
Is->
Figure SMS_324
Time carrier north speed,/->
Figure SMS_327
Is the earth radius; according to the formula III and the formula IV, the +.>
Figure SMS_329
Angular velocity produced by the time carrier, wherein +.>
Figure SMS_332
Is relative to->
Figure SMS_330
The angular velocity of the system is->
Figure SMS_334
Projection under the system->
Figure SMS_314
The calculation formula five of (a) is as follows: />
Figure SMS_320
At this point the carrier angular velocity is determined>
Figure SMS_323
。
In the actual system operation, the rotary fiber optic gyroscope inertial navigation is installed on a carrier (such as a ship and a vehicle), if the carrier is moving, the movement can influence the effect of rotary modulation, and a corresponding scheme for isolating the angular speed of the carrier is required to be designed for ensuring the rotary modulation effect. The optical fiber gyroscope detects the angular velocity of the gyroscope body coordinate system p relative to the inertial system i, which is expressed as follows (CN 105588562a, a method for rotationally modulating the angular velocity of the isolating carrier in the inertial navigation system), and the formula three is:
Figure SMS_354
wherein->
Figure SMS_359
Time of presentation->
Figure SMS_363
Representing the inertial coordinate system, +.>
Figure SMS_336
Representing the gyro body coordinate system,/->
Figure SMS_341
Representing the earth coordinate system, < >>
Figure SMS_346
Representing a navigation coordinate system,/->
Figure SMS_350
Representing the carrier coordinate system,/->
Figure SMS_338
Representation->
Figure SMS_342
Time->
Figure SMS_343
Is relative to->
Figure SMS_348
The angular velocity of the system is->
Figure SMS_347
Projection under the system, ++>
Figure SMS_351
Representation->
Figure SMS_356
Time->
Figure SMS_362
Is relative to->
Figure SMS_353
The angular velocity of the system is->
Figure SMS_357
Projection under the system, ++>
Figure SMS_360
Representation->
Figure SMS_364
Time->
Figure SMS_335
Is relative to->
Figure SMS_340
The angular velocity of the system is->
Figure SMS_345
Projection under the system, ++>
Figure SMS_349
Representation->
Figure SMS_352
Time->
Figure SMS_355
Is relative to->
Figure SMS_358
The angular velocity of the system is->
Figure SMS_361
Projection under the system, i.e. carrier angular velocity,/->
Figure SMS_365
Representation->
Figure SMS_366
Time->
Figure SMS_367
Is relative to->
Figure SMS_368
The angular velocity of the system is->
Figure SMS_337
The undershot projection, i.e. the modulation angular velocity; from the principle of inertial navigation, it is known that +.>
Figure SMS_339
And->
Figure SMS_344
Can be according to the followingSolving: />
Figure SMS_369
，
In the method, in the process of the invention,
Figure SMS_375
is->
Figure SMS_372
Time->
Figure SMS_376
Is relative to->
Figure SMS_373
Conversion matrix of the system>
Figure SMS_377
Is->
Figure SMS_379
Time->
Figure SMS_383
Is relative to->
Figure SMS_378
The angular velocity of the system is->
Figure SMS_382
Projection under the system, i.e. the rotational angular velocity of the earth, is constant, +.>
Figure SMS_370
Is->
Figure SMS_374
The latitude of the carrier is located at the moment,
Figure SMS_380
is->
Figure SMS_384
Time carrier east speed, & lt & gt>
Figure SMS_381
Is->
Figure SMS_385
Time carrier north speed,/->
Figure SMS_371
Is the earth radius.
Can be obtained according to the formula III and the formula IV
Figure SMS_386
The angular velocity produced by the time carrier, i.e.)>
Figure SMS_387
Is relative to->
Figure SMS_388
The angular velocity of the system is->
Figure SMS_389
Projection under the system->
Figure SMS_390
The calculation formula five of (a) is as follows:
Figure SMS_391
，
the carrier angular velocity determined at this time
Figure SMS_392
The application of the reverse angular velocity can be carried out in the following control cycle to achieve carrier motion isolation, i.e. without taking into account abrupt motion, at the next moment +.>
Figure SMS_393
At the time of real-time instruction angular velocity two +.>
Figure SMS_394
The formula six of (2) is:
Figure SMS_395
，
Figure SMS_396
representation->
Figure SMS_397
Real-time command angular velocity at time one, < +.>
Figure SMS_398
，/>
Figure SMS_399
Is->
Figure SMS_400
And a second angular velocity is instructed in real time at the moment.
In order to improve the control effect, a look-ahead planning of the rotational modulation angular velocity is adopted, and vibration and the like caused by infinite angular acceleration are avoided. However, according to equation six, it is known that when the carrier moves, a reverse angular velocity must be superimposed to isolate the carrier movement, if it is to be directly used
Figure SMS_401
The addition to the angular velocity of the first or second program would destroy the original velocity program. Taking linear angular acceleration as an example, a larger carrier angular velocity is directly superimposed on the original planned angular velocity according to formula (1)>
Figure SMS_402
An infinite angular acceleration is generated and a sudden change in motion of infinite acceleration as shown in the dotted line box of fig. 7 may occur, disrupting the speed plan.
Example 5: the improvement was made on the basis of example 4. Obtaining
Figure SMS_403
Time carrier angular velocity->
Figure SMS_404
After that, according to the threshold value/>
Figure SMS_405
The superimposed carrier angular velocity is calculated as follows: />
Figure SMS_406
，
Figure SMS_407
For the carrier angular velocity to be superimposed actually, +.>
Figure SMS_408
For accelerating the angular acceleration of the segment +.>
Figure SMS_409
For permissible abrupt angular acceleration, +.>
Figure SMS_410
Is->
Figure SMS_411
Multiple of>
Figure SMS_412
For modulation control periods.
According to equation seven
Figure SMS_413
Calculating the carrier angular velocity to be superimposed actually +.>
Figure SMS_414
Substituting +.>
Figure SMS_415
Is calculated +.>
Figure SMS_416
Can ensure that the real-time instruction angular velocity of the motion of the superimposed isolation carrier is two +.>
Figure SMS_417
The maximum angular acceleration produced will not exceed +.>
Figure SMS_418
。
Example 6: the improvement was made on the basis of example 5. When (when)
Figure SMS_419
Is greater than->
Figure SMS_420
When only +.>
Figure SMS_421
And a part of the angular velocity still remains uncompensated, i.e. equation eight:
Figure SMS_422
，
in the method, in the process of the invention,
Figure SMS_424
is->
Figure SMS_428
The carrier angular velocity which is not compensated for at the moment. For->
Figure SMS_429
In the next modulation control period, in +.>
Figure SMS_425
Time of day, if present->
Figure SMS_427
Less than->
Figure SMS_430
Then at +.>
Figure SMS_431
Time pair->
Figure SMS_423
Carrier angular velocity uncompensated at the moment +.>
Figure SMS_426
Compensation is performed, and the compensation process can be expressed as:
Figure SMS_432
。
in the method, in the process of the invention,
Figure SMS_433
is->
Figure SMS_434
Time-of-day real-time command angular velocity two,/and/or>
Figure SMS_435
Is->
Figure SMS_436
The carrier angular velocity which is not compensated for at the moment. />
Figure SMS_437
For permissible abrupt angular acceleration, +.>
Figure SMS_438
Is a multiple of a>
Figure SMS_439
For modulation control periods.
Therefore, infinite angular acceleration which is not generated by superposition of angular velocities of the motion isolation carrier can be ensured, and real-time instruction angular velocity II under carrier motion isolation is realized
Figure SMS_440
Smooth output and ensures the stability of rotation modulation.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (1)

1. The angular velocity smooth control method for the inertial navigation of the rotary fiber-optic gyroscope is characterized by comprising the following steps of: aiming at the modulation process, digital control is adopted, and a linear angular acceleration algorithm or an S-shaped angular acceleration algorithm is used for obtaining the target modulation angular velocity
Figure QLYQS_1
Then, if the target modulation angular velocity is lower than 10 DEG/s, planning in advance according to a linear angular acceleration algorithm, and giving a smoother command angular velocity according to a control period>
Figure QLYQS_2
The linear angular acceleration algorithm has the formula:
Figure QLYQS_3
，
in the method, in the process of the invention,
Figure QLYQS_5
representation->
Figure QLYQS_8
Real-time command angular velocity at time one, < +.>
Figure QLYQS_11
Representing the target modulation angular velocity,/->
Figure QLYQS_6
Indicating acceleration section angular acceleration +.>
Figure QLYQS_7
Representing the run time of the first phase, +.>
Figure QLYQS_9
Representing the run time of the second phase, +.>
Figure QLYQS_12
Indicating the run time of the third phase, +.>
Figure QLYQS_4
Representing the modulation time, if the target modulation angular velocity is higher than 10 DEG/S, planning in advance according to an S-type angular acceleration algorithm, and giving a smoother command angular velocity +/according to a control period>
Figure QLYQS_10
The second formula of the S-shaped angular acceleration algorithm is:
Figure QLYQS_13
，
in the method, in the process of the invention,
Figure QLYQS_19
representation->
Figure QLYQS_23
Real-time command angular velocity at time one, < +.>
Figure QLYQS_36
Representing the target modulation angular velocity,/->
Figure QLYQS_14
Indicating acceleration section angular acceleration +.>
Figure QLYQS_27
Indicating acceleration of acceleration segment angle ++>
Figure QLYQS_28
Representing the run time of the first phase, +.>
Figure QLYQS_34
Representing the run time of the second phase, +.>
Figure QLYQS_15
Indicating the run time of the third phase, +.>
Figure QLYQS_24
Indicating the run time of the fourth phase, +.>
Figure QLYQS_39
Representing the run time of the fifth phase, +.>
Figure QLYQS_41
Indicating the run time of the sixth phase, +.>
Figure QLYQS_18
Indicating the run time of the seventh phase, +.>
Figure QLYQS_29
The time of the modulation is indicated and,
Figure QLYQS_33
represents the end angular velocity of the first phase, +.>
Figure QLYQS_40
Indicating the end angular velocity of the second phase, +.>
Figure QLYQS_17
Indicating the end angular velocity of the third phase, +.>
Figure QLYQS_22
Indicating the end angular velocity of the fourth phase, +.>
Figure QLYQS_31
Indicating the end angular velocity of the fifth phase, +.>
Figure QLYQS_37
Indicating the end angular velocity of the sixth phase, +.>
Figure QLYQS_16
Indicating the end time of the first phase, +.>
Figure QLYQS_26
Indicating the end time of the second phase, +.>
Figure QLYQS_30
Indicating the end time of the third phase, +.>
Figure QLYQS_38
Indicating the end time of the fourth phase, +.>
Figure QLYQS_21
Indicating the end time of the fifth phase, +.>
Figure QLYQS_25
Indicating the end time of the sixth phase, +.>
Figure QLYQS_32
Indicating the end time of the seventh phase, further comprising the steps of: />
Figure QLYQS_35
Time carrier angular velocity->
Figure QLYQS_20
The method is obtained by the following formula III and formula IV, wherein the formula III is as follows: />
Figure QLYQS_46
Wherein->
Figure QLYQS_57
Time of presentation->
Figure QLYQS_61
Representing the inertial coordinate system, +.>
Figure QLYQS_45
Representing the gyro body coordinate system,/->
Figure QLYQS_52
Representing the earth coordinate system, < >>
Figure QLYQS_55
Representing a navigation coordinate system,/->
Figure QLYQS_63
The coordinate system of the carrier is represented,
Figure QLYQS_44
representation->
Figure QLYQS_66
Time->
Figure QLYQS_68
Is relative to->
Figure QLYQS_69
The angular velocity of the system is->
Figure QLYQS_49
Projection under the system, ++>
Figure QLYQS_51
Representation->
Figure QLYQS_65
Time->
Figure QLYQS_67
Is relative to->
Figure QLYQS_48
The angular velocity of the system is->
Figure QLYQS_53
Projection under the system, ++>
Figure QLYQS_58
Representation->
Figure QLYQS_62
Time->
Figure QLYQS_42
Is relative to->
Figure QLYQS_54
The angular velocity of the system is->
Figure QLYQS_56
Projection under the system, ++>
Figure QLYQS_59
Representation->
Figure QLYQS_43
Carrier angular velocity at time,/->
Figure QLYQS_50
Representation->
Figure QLYQS_60
A modulation angular velocity at a time; from the principle of inertial navigation, it is known that +.>
Figure QLYQS_64
And->
Figure QLYQS_47
The solution can be performed according to the following equation IV:
Figure QLYQS_76
in which, in the process,
Figure QLYQS_75
is->
Figure QLYQS_87
Time->
Figure QLYQS_72
Is relative to->
Figure QLYQS_79
Conversion matrix of the system>
Figure QLYQS_74
Is->
Figure QLYQS_78
The rotational angular velocity of the earth at the moment is a constant value,
Figure QLYQS_77
is->
Figure QLYQS_81
Latitude of time carrier,/-, and>
Figure QLYQS_70
is->
Figure QLYQS_80
Time carrier east speed, & lt & gt>
Figure QLYQS_73
Is->
Figure QLYQS_88
Time carrier north speed,/->
Figure QLYQS_83
Is the earth radius; according to the formula III and the formula IV, the +.>
Figure QLYQS_86
Angular velocity produced by the time carrier, wherein +.>
Figure QLYQS_71
Is relative to->
Figure QLYQS_82
The angular velocity of the system is->
Figure QLYQS_84
Projection under the system->
Figure QLYQS_85
The calculation formula five of (a) is as follows:
Figure QLYQS_89
obtaining carrier angular velocity->
Figure QLYQS_90
The method comprises the steps of carrying out a first treatment on the surface of the In the following control cycle, the carrier angular velocity is determined according to +.>
Figure QLYQS_91
The application of the reverse angular velocity achieves a carrier motion isolation, irrespective of the abrupt motion, at the next moment +.>
Figure QLYQS_92
At the time of real-time instruction angular velocity two +.>
Figure QLYQS_93
The formula six of (2) is:
Figure QLYQS_95
wherein->
Figure QLYQS_99
Representation->
Figure QLYQS_103
Real-time command angular velocity at time one, < +.>
Figure QLYQS_96
，
Figure QLYQS_97
Is->
Figure QLYQS_101
The real-time instruction angular velocity II at the moment is obtained +.>
Figure QLYQS_102
Time carrier angular velocity->
Figure QLYQS_94
After that, according to the threshold->
Figure QLYQS_98
For superimposed carrier angular velocity->
Figure QLYQS_100
The calculation is performed as follows: />
Figure QLYQS_108
Wherein->
Figure QLYQS_123
For the carrier angular velocity to be superimposed actually, +.>
Figure QLYQS_130
For accelerating the angular acceleration of the segment +.>
Figure QLYQS_105
For permissible abrupt angular acceleration, +.>
Figure QLYQS_113
Is->
Figure QLYQS_116
Multiple of>
Figure QLYQS_119
For the modulation control period to be in-phase with,
Figure QLYQS_106
is->
Figure QLYQS_115
A real-time command angular velocity II of the moment according to a formula seven
Figure QLYQS_118
Calculating the carrier angular velocity to be superimposed actually +.>
Figure QLYQS_129
Substitution of +.>
Figure QLYQS_109
Calculate->
Figure QLYQS_120
Real-time command angular velocity two of moment
Figure QLYQS_122
When->
Figure QLYQS_128
Is greater than->
Figure QLYQS_110
When only +.>
Figure QLYQS_111
And the rest of the angular velocity cannot be compensated, the corresponding formula eight is: />
Figure QLYQS_114
，/>
Figure QLYQS_125
Is->
Figure QLYQS_104
The carrier angular velocity not compensated for at the moment is for +.>
Figure QLYQS_112
In the next modulation control period, in +.>
Figure QLYQS_126
Time of day, if present->
Figure QLYQS_127
Less than->
Figure QLYQS_107
In->
Figure QLYQS_117
Time pair->
Figure QLYQS_121
Carrier angular velocity uncompensated at the moment +.>
Figure QLYQS_124
Compensation is performed, and the compensation process can be expressed as:
Figure QLYQS_131
wherein->
Figure QLYQS_132
Is->
Figure QLYQS_133
Real-time command angular velocity two of moment，/>
Figure QLYQS_134
Is->
Figure QLYQS_135
Carrier angular velocity not compensated for at the moment +.>
Figure QLYQS_136
For permissible abrupt angular acceleration, +.>
Figure QLYQS_137
For modulation control periods. />
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CN105588562B (en) * 2015-12-16 2018-12-04 北京理工大学 The method of carrier angular movement is isolated in a kind of rotation modulation inertial navigation system
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