摘要
动力调谐陀螺寻北仪在倾斜状态下寻北误差较大,其原因是动力调谐陀螺模型中各参数没有全部标定且标定精度不够,不能保证寻北仪在工程中的正常使用。因此,提出了一种24位置动力调谐陀螺全参数标定方法,分析了动力调谐陀螺寻北仪倾斜状态下误差的来源及其物理意义,明确了倾斜状态下误差形成的内在机理。并用四元数理论建立倾斜寻北的数学模型、误差补偿模型,仿真了相应的解算算法。并进行了试验研究,结果表明,该方法能有效解决倾斜状态下的寻北精度,在工程应用中效果良好。
The error of the dynamically tuned gyroscope north finder system of dynamically tuned gyroscope is obvious. The north finder error is caused by the fact that not all the parameters are precisely calibrated. The north finder system is not competent for the project sometimes. In result, the method of 24 location parameter calibration is proposed. The source and its physics theory of the error of north finder in lean state are analyzed. Quaternion theory is used in this state, at the same time, gravity compensation model is set up. At last, ideal result is achieved by arithmetic simulating. The precision of north finder at big slope state is effective improved with the method described in this article. This method is used very well in project.
出处
《压电与声光》
CSCD
北大核心
2011年第5期734-737,共4页
Piezoelectrics & Acoustooptics
关键词
参数标定
倾斜
误差模型
四元数
parameter calibration
lean state
error model
quaternion
