船用光学陀螺动态随机误差特性分析方法

摘要

The inertial technology is the unique effective methods to autonomously acquire marine position and attitude information, while the Ring Laser (RL) and Fiber Optic Gyroscope (FOG) were the key components of inertial navigation, guidance, and dynamic precise measurement systems, as study of random errors analysis can im⁃prove the accuracy of Marine′s weapon significantly. The error properties of Optic Gyroscope (OG) and variance analysis methods have been introduced and reviewed in detail. For testing and analyzing the stochastic error proper⁃ties, and quantifying the noises amplitude under dynamic environment more effectively, Allan variance and dynam⁃ic Allan variance (DAVAR) strategy were adopted, respectively. Comparing with each other, identifying the noise types, and quantifying noise of white noises with time⁃varying variances and gyroscope′s real outputs, experimental results show that DAVAR can distinguish and quantify time⁃varying noises in long⁃term run, and reflect the gyro⁃scope dynamic more accurately.%惯性技术是舰船自主获取运动方位、姿态信息的重要方法之一，而激光和光纤陀螺已成为惯性导航、制导和动态精确测量的核心元器件，研究其随机误差特性对于提高舰船作战和测量具有非常重要的意义。介绍了光学陀螺随机误差特性和基于统计特性的随机误差分析方法，为更有效地测试和分析时变噪声环境下的陀螺特性，采用Allan方差（Avar）和动态Allan方差（DAVAR）来识别和分析陀螺输出数据。对比分析了纯白噪声特性和光纤陀螺实验数据中随机噪声类型和水平的辨识结果。结果表明，DAVAR能对光学陀螺长时间运行下的时变噪声特性进行有效识别和分析，准确地反映陀螺的动态特性。