摘要
为提高双轴离心机上液浮陀螺仪的标定精度,对双轴离心机的误差进行分析并有效分离,根据双轴离心机的结构特点和工作方式建立坐标系,讨论了离心机误差和陀螺仪相关误差模型系数的关系,同时完善了陀螺仪在双轴离心机标定过程中的误差模型。考虑到在离心机中标定的可靠性和实效性,根据陀螺仪的标定模型提出了九姿态试验法,采用最小二乘法对陀螺仪误差模型参数的辨识。最后,分析了两轴线平行度、两轴角位置不同步误差对液浮陀螺仪误差模型系数标定精度的影响,通过仿真分析验证了标定方法的有效性。仿真结果表明,误差模型系数辨识的精度可控制在模型系数的13.2%以内,另外,相对于速率追踪模式,相位追踪模式能有效降低角位置不同步误差对标定结果的影响,部分误差模型二阶项系数的标定精度可提高。
In order to improve the calibration accuracy of the floated gyroscope on the dual-axis centrifuge,the error sources of the dual-axis centrifuge should be analyzed and effectively separated.The coordinate systems are established according to the structural characteristics and working mode of the dual-axis centrifuge.The intrinsic relationship between attitude errors of the centrifuge and the related error model coefficients of the floated gyroscope’s are discussed.Meanwhile,the complete error model of the floated gyroscope in calibration process is established.Considering the reliability and effectiveness of the calibration in the centrifuge,a nine-attitude test method for error model identification is proposed,and the error coefficients of the floated gyroscope’s error model are identified by the least square method.Finally,the effects of parallelism and angular asynchronous error between the main axis and the azimuth axis on the calibration accuracy of the error model coefficients of the floated gyroscope are analyzed,and the validity of the calibration method is verified by simulation analysis.The simulation results show that the identification accuracy of the error model coefficients can be controlled within 13.2%.Compared with the rate tracking mode,the phase tracking mode can effectively reduce the effect of the angular asynchronous error on the calibration results,and the identification accuracy of the second-order coefficient of the floated gyroscope’s error model can be improved.
作者
孙英博
任顺清
王常虹
SUN Yingbo;REN Shunqing;WANG Changhong(Space Control and Inertial Technology Research Center,Harbin Institute of Technology,Harbin 150080,China)
出处
《中国惯性技术学报》
EI
CSCD
北大核心
2022年第5期674-682,689,共10页
Journal of Chinese Inertial Technology
基金
基础研究项目群(514010209-302)。
关键词
双轴离心机
液浮陀螺仪
误差模型
相位追踪
不同步误差
dual-axis centrifuge
floated gyroscope
error model
phase tracking
asynchronous error
