摘要
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 g0(g0=9.8m/s2)的激光惯性测量装置,10min静态导航精度优于10m,6min动态导航精度优于40m。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。
This paper researches on calibration algorithm of skewed-installation laser gyros and quartz accelerom- eters. Based on the analysis of the skewed-installation principle, the error models of laser gyro and quartz acceler- ometer are established. The skewed-installation calibration algorithm based on the least square is designed by using the marble slab and rate turntable. The proposed algorithm eliminates the design link of complex calibration tooling to reduce the error accumulation and has advantages of high precision, small residual error,cost-effectiveness. With the calibrated error parameters compensated in the navigation software, the laser inertial measurement unit with la- ser gyrors accuracy of better than 0.05 （°）/h and quartz accelerometer＇s accuracy of better than 5×10^-5go（go=9.8m/s^2） has achieved the navigation precision of 10 min static navigation precision of better than 10 m and 6 min dynamic navigation precision of better than 40 m. This result fully meets the requirement of parameters separation for engineering applications to high precision laser inertial measurement unit.
出处
《压电与声光》
CSCD
北大核心
2013年第3期362-367,共6页
Piezoelectrics & Acoustooptics
基金
国家自然科学基金资助项目(50979093)
关键词
斜装
激光陀螺
石英加速度计
标定算法
skewed-installation
laser gyro
quartz accelerometer
calibration algorithm
