Elastic Dynamic Torsion of a Ring Laser Gyroscope Mechanical Dither and its Effect on the Accuracy of Attitude Determination

摘要

We analyze the effect of the dynamic elastic torsion, which mechanical dithering devices of ring laser gyroscopes can be subject to, on the accuracy of attitude determination in a strapdown inertial navigation system. We also describe a method for calibrating their parameters in order to compensate for this effect in attitude integration algorithm. The method represents an extension of the existing technique introduced in 2009 by N.A. Parusnikov from the Moscow State University, applicable to tactical and navigation-grade inertial systems on a turntable with horizontal rotation axis. New parameters of dynamic elastic torsion get into the state vector of a linear state-space model subject to estimation. We examine their observability and predicted covariance, as well as present the experimental results.