Method for testing dynamic random drifting of strap-down flexible gyroscope by aid of laser Doppler velocimeter

A Doppler velocimeter and strapdown flexible technology, applied in the inertial field, can solve the problem of not being able to obtain the error drift characteristics of the flexible gyro

Active Publication Date: 2012-07-25
湖南率为控制科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The disadvantage is that this test method can only obtain the dynamic characteristics of the flexible gyroscope in the angular vibration environment, and cannot obtain the error drift characteristics of the flexible gyroscope in the environment of random vibration of the carrier and random temperature changes

Method used

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  • Method for testing dynamic random drifting of strap-down flexible gyroscope by aid of laser Doppler velocimeter
  • Method for testing dynamic random drifting of strap-down flexible gyroscope by aid of laser Doppler velocimeter
  • Method for testing dynamic random drifting of strap-down flexible gyroscope by aid of laser Doppler velocimeter

Examples

Experimental program
Comparison scheme
Effect test

Embodiment

[0080] Simulate initial conditions:

[0081] Total simulation time: 1550s;

[0082] Two-position initial alignment time: 300s;

[0083] Initial heading angle: 45 degrees;

[0084] Initial yaw angle: 0 degrees;

[0085] Initial roll angle: 0 degrees;

[0086] The simulation trajectory is shown in Table 1:

[0087] Table 1 Simulation trajectory

[0088] serial number

Maneuver

duration

Remark

1

Horizontal Two-Position Alignment

300s

2

speed up

20s

Acceleration 0.6m / s^2

3

uniform motion

180s

4

turn right

5s

Speed ​​3deg / s

5

uniform motion

60s

6

slow down

10s

Acceleration -0.3m / s^2

7

uniform motion

180s

8

turn left

5s

Speed ​​3deg / s

9

uniform motion

60s

10

speed up

20s

Acceleration 0.6m / s^2

11

uniform motion

180s ...

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Abstract

The invention discloses a method for testing dynamic random drifting of a strap-down flexible gyroscope by the aid of a laser Doppler velocimeter, which belongs to the field of inertia technology. The method for testing dynamic random drifting of the strap-down flexible gyroscope by the aid of the laser Doppler velocimeter includes mounting the tested strap-down flexible gyroscope on a test car, and electrifying and preheating a flexible strap-down inertia unit until the flexible strap-down inertia unit is stable; synchronously acquiring data of the flexible strap-down inertia unit and data of the laser Doppler velocimeter; and keeping the test car fixed, and initially aligning fixed bases of two positions based on a course angle of 180 degrees by the aid of a Kalman filter; starting the test car, leading the car to start to run, and estimating for inertia / Doppler combined navigation for the full stroke. Accurate speed measurement of the laser Doppler velocimeter is used as observation information, random drifting errors of the flexible gyroscope in a vehicular dynamic environment are estimated by the Kalman filter, shortcomings that random drifting errors of a flexible gyroscope are only calibrated, tested and assessed by a multi-position method in a laboratory at present are overcome, and an auxiliary analysis means and an assessment basis for dynamic precision analysis of the flexible gyroscope and the flexible inertia unit are provided.

Description

technical field [0001] The invention belongs to the technical field of inertia, and relates to a dynamic random drift testing method of a flexible gyroscope in a flexible strapdown inertial set, specifically, it refers to a method of using the speed information of a laser Doppler velocimeter as an observation quantity, through the Kalman A method for estimating random drift errors of a flexible gyroscope in a flexible inertial set with a filter in a vehicle-mounted dynamic environment. Background technique [0002] The flexible gyroscope is a mechanical two-degree-of-freedom gyroscope. Since its inception, flexible gyroscopes have been widely used in various navigation, guidance and control systems. In practical applications, there are drift errors in the angular velocity measurement value of the flexible gyroscope due to various internal and external factors. [0003] The flexible inertial group generally includes two dual-degree-of-freedom flexible gyroscopes and three l...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C25/00G01C19/00
Inventor 芦佳振李保国张春熹刘航
Owner 湖南率为控制科技有限公司
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