以单轴恒速偏频激光陀螺系统为研究对象,在分析IMU传感器误差的基础上,建立了合理有效的静基座初始对准滤波器模型,针对系统连续旋转运行的特性,提出了简洁适用的滤波器估计误差检验方法,利用自主设计的原理样机验证了恒速偏频技术的实际可行性,对滤波算法进行了实验测试,实验结果表明,初始对准滤波算法能够稳定有效地估计IMU传感器误差,且等效东陀螺漂移估计精度优于0.0004(°)/h,该系统具有很高的工程应用潜力,%Based on a triad constant-rate biased RLG system, a reasonably effective filtering model for stationary initial alignment of the system is implemented by analyzing the characteristics of IMU sensor's measurement errors. In view that the system is continuously rotated in operation, an evaluation method for the filter's estimation error is set up. A principle prototype is designed and used in the experiments which verify the practical feasibility of constant-rate biased technique of triad laser gyros, and its filtering algorithm is also tested. The experiments show that the Kalman filter can effectively estimate the IMU sensor's measurement error, and the equivalent east gyro drift estimation error is less than 0.0004 (°)/h. This system has great potential in engineering application.
展开▼
