驱动链中不平衡误差的识别和补偿方法,用于速度集成半球共振器陀螺仪
Yiwei Sun1, Zhennan Wei1, Guoxing Yi1
1Space Control and Inertial Technology Research Center, Harbin Institute of Technology, Harbin 150001, China.
Sensors (Basel, Switzerland)
|July 13, 2024
概括
本研究介绍了一种方法,用于识别和补偿速度集成半球共振陀螺 (RI-HRGs) 中不平衡的错误. 这项技术显著改善了陀螺仪的性能.
科学领域:
- 惯性导航系统 惯性导航系统
- 传感器技术 传感器技术
- 控制系统工程 控制系统工程
背景情况:
- 速度整合半球共振陀螺仪 (RI-HRGs) 的精度对于导航性能至关重要.
- 在RI-HRG中现有的多循环控制系统在驱动链中容易出现各种错误.
- 这些错误会降低陀螺仪的整体精度和可靠性.
研究的目的:
- 提出一种有效的方法来识别和补偿RI-HRG驱动链中的不平衡错误.
- 分析特定错误对RI-HRG多环控制性能的影响.
- 提高RI-HRG的整体准确性和稳定性.
主要方法:
- 考虑组件倾斜,离心率,薄膜阻力,合和组件参数错误.
- 模拟驱动链不平衡误差和非理想的前行角速率之间的关系.
- 开发一个错误识别和补偿策略,使用 RI-HRG 输出的虚拟 precession 控制.
主要成果:
- 不平衡误差被分为不平衡增益误差,等效失调角度和不平衡等效失调角度误差.
- 为单通道异步和双通道同步控制建立了一个统一的模型.
- 在补偿后,零偏差不稳定性从3.0950°/h提高到0.0511°/h.
结论:
- 提出的方法有效地识别和补偿RI-HRG驱动链中的不平衡错误.
- 这种补偿大大抑制了非理想的角度速率输出,提高了陀螺仪的性能.
- 该研究表明,RI-HRG零偏差不稳定性得到了显著改善.
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