为有效抑制半球谐振陀螺的随机漂移和零偏,提高半球谐振陀螺平台方位自对准精度,设计了一种带漂移补偿的半球谐振陀螺平台四位置自对准方案. 通过对陀螺随机漂移信号进行ARMA建模补偿,对陀螺输出信号进行滤波处理,减少随机漂移和噪声干扰给对准精度带来的影响,并分别对二位置及四位置方案进行试验验证. 试验结果表明,该方案的对准时间与传统的四位置对准相当,对准精度为15. 78′,优于忽略随机漂移的二位置及四位置的对准精度.%In order to suppress the random drift and zero bias of the Hemispherical Resonator Gyro (HRG), and improve the azimuth self-alignment accuracy of the HRG inertial navigation platform,a four-position self-alignment method with drift compensation was designed for the HRG inertial navigation platform. An ARMA model of the HRG random drift was constructed for filtering the signal output from the gyro, thus to decrease the influence of the random drift and noise to the azimuth self-alignment accuracy. Experiments were made to the two-position and four-position schemes separately. The experiment result shows that, the alignment time of our four-position drift detecting scheme is equivalent to that of the traditional four-position scheme, but the accuracy of this scheme is 15 . 78′, which is better than that of the traditional two/four-position scheme ignoring the gyroscope drift.
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