斜装液浮陀螺一次项漂移系数系统级分离算法

在免拆卸条件下,为实现实时监测倾斜安装在惯性测量单元(IMU,inertial measurement unit)中的液浮陀螺一次项漂移系数DI、Ds,提出一种利用惯性测量单元标定参数解算液浮陀螺一次项漂移系数的系统级分离算法.通过对液浮陀螺结构和斜装原理的分析,给出了液浮陀螺单表和系统的误差模型,并基于误差模型和已经获取的斜装IMU的误差参数,设计了液浮陀螺一次项漂移系数的系统级分离算法,该算法不需要设计复杂的倾斜标定工装,同时免去了液浮陀螺从惯性测量单元上拆卸的麻烦,减少了误差积累,参数的分离精度高、残差小,与单表一次项漂移系数分离结果的极差优于1.301×10-3(°)·(h·g0)-1,完全满足工程应用中高精度惯性测量单元对液浮陀螺一次项漂移系数的分离精度要求.     

Research on feasibility of missile attitude control based on laser gyroscope

According to the disadvantages of traditional mechanical gyro inertial measurement unit(’IMU’) for steering system not being available for missile attitude control, a concept based on laser gyro IMU is proposed to realize navigation & positioning and attitude control. The concept will save three single-axis rate gyros compared with traditional missile attitude control system, and is available both for strapdown and platform inertial navigation systems. Firstly, this article analyzes the selection requirements of sensitive device for missile attitude control system, and then analyzes the feasibility of missile attitude control based on laser gyro theoretically, on this basis, from four aspects of error characteristics, anti-vibration characteristics, temperature characteristics and dynamic characteristics, validate the feasibility of the concept practically. Secondly according to the strict requirements of dynamic characteristics on attitude control system, a special design is made for gyro signal filtering used for attitude control. By changing the traditional high order FIR filter to adaptive filter and low order FIR filter, laser gyro’s signal phase delay is reduced. The delay time of theoretical design is 1.5 ms. Lastly, this design is validated through an angle vibration test, and test curve indicates that the dynamic characteristics of laser gyro completely meets the requirements of the attitude control system, and the maximum delay time is 1.6144 ms, which satisfies with the attitude update rate of 2 ms per frame. This concept can simplify the missile guidance system design, at the same time, it does not reduce missile guidance accuracy, and also provides reference for the broadening of the application of laser gyro.     

斜装激光陀螺石英加速度计标定算法研究

对斜装激光陀螺石英加速度计的标定算法进行了研究。在对斜装原理分析的基础上,分别建立了激光陀螺和石英加速度计的误差模型。基于大理石平板和速率转台,设计了基于最小二乘法的斜装标定算法。该算法省去了复杂的标定工装的设计环节,减少了误差积累,具有精度高,残差小,经济方便的优点。将该算法标定的误差参数在导航软件中进行补偿,激光陀螺精度优于0.05 (° )/h,石英加速度计精度优于5×10-5g0(g0=9.8 m/s2)的激光惯性测量装置,10 min静态导航精度优于10 m,6 min动态导航精度优于40 m。完全满足工程应用中对高精度激光惯性测量装置的参数分离要求。     

激光陀螺动态特性研究（一）

针对激光陀螺动态特性中的带宽特性进行了研究。该文首先分析了激光陀螺的带宽特性指出,激光陀螺具有较高的理论带宽,并分析了影响实际带宽大小的因素,对激光陀螺的带宽进行了实际测试。将激光陀螺装在惯性测量装置(IMU)台体上,采用正弦激励法进行试验。按已设定的频率和幅值给角振动台施加正弦激励,分别采集激光陀螺信号和角振动台信号的输出,对每个频率点采集的数据进行傅里叶变换(FFT)处理并得出结论。为更好说明问题,先后在两台角振动台上进行试验,且IMU与试验工装分刚性连接和带减震器两种状态。测试数据说明,激光陀螺在IMU系统上测试的带宽大于120Hz,理论分析相符,完全满足现代导弹对激光陀螺的带宽要求。该试验可为激光陀螺信号的滤波、激光IMU系统设计等提供参考依据。     

基座晃动对寻北仪影响的仿真分析

外界对寻北仪的干扰,选取正弦和正弦衰减情形,采用二位置寻北方案及改进寻北算法进行仿真,允许基座在大倾角情况下确定方位,即横滚角和俯仰角可不近似为零.计算机控制力矩电机带动旋转机构使陀螺、加速度计由初始位置转动180°采样,再反向转动180°回到初始位置重采样,根据各通道的两次脉冲总数计算航向角、横滚角和俯仰角.仿真结果说明在基座晃动情况下,寻北仪未经有效补偿无法准确寻北.     

光纤陀螺组合的信号频谱分析与滤波技术研究

对某惯导系统中使用的三轴向光纤陀螺(FOG)组合的输出信号做了基于FFT的频谱分析,设计并实现了中值滤波I、IR数字滤波器滤波、小波滤波三种不同方法对该信号的噪声滤除,分别给出了滤波后陀螺输出信号的幅频特性图。通过对试验数据的分析,肯定了三种方法在FOG组和输出信号滤波处理中的有效性,并分析了各自的优缺点。