Research on identifying the dynamic error model of strapdown gyro on 3-axis turntable
The dynamic errors of gyros are the important error sources of a strapdown inertial navigation system.In order to identify the dynamic error model coefficients accurately, the static erTor model coefficients which lay a foundation for compensating while identifying the dynamic error model are identified in the gravity acceleration fields by using angular position function of the three-axis turntable. The angular acceleration and angular velocity are excited on the input, output and spin axis of the gyros when the outer axis and the middle axis of a threeaxis turntable are in the uniform angular velocity state simultaneously, while the inner axis of the turntable is in different static angular positions. 8 groups of data are sampled when the inner axis is in 8 different angular positions. These data are the function of the middle axis positions and the inner axis positions. For these data, harmonic analysis method is applied two times versus the middle axis positions and inner axis positions respectively so that the dynamic error model coefficients are finally identified through the least square method. In the meantime the optimal angular velocity of the outer axis and the middle axis are selected by computing the determination value of the information matrix.
作 者： WANG Hai REN Shun-qing WANG Chang-hong 作者单位： WANG Hai(Astronautic School, National University of Defense Technology, Changsha 410073, China)REN Shun-qing,WANG Chang-hong(Space Control and Inertial Technology Research Center, Harbin Institute of Technology, Harbin 150001, China)
刊 名： 哈尔滨工业大学学报（英文版） EI 英文刊名： JOURNAL OF HARBIN INSTITUTE OF TECHNOLOGY(NEW SERIES) 年，卷(期)： 2005 12(6) 分类号： V249.32 关键词： strapdown gyro dynamic error model harmonic analysis three-axis turntable