随钻用光纤陀螺惯导系统振动误差建模与辨识

随钻振动工作环境下，针对惯导系统传统的线性器件误差模型不能适用于线振动工作环境的问题，提出了适用于振动条件下的高阶器件误差模型。通过分析二次项误差在静止与振动状态下的误差传播特性，得出加速度计二次项误差为线振动中主要误差项，建立包含加速度计二次项误差的36阶Kalman滤波器。与传统33阶误差模型相比，36阶误差模型可以有效分离和辨识器件误差。最后，在线振动状态下进行导航验证。结果表明，补偿了二次项误差之后的导航误差得到了大幅优化，速度误差由50m/s减小至2.2m/s，位置误差由90000m减小至2000m，姿态误差由0.7°减小至0.01°。

Vibration Error Model Establishment and Identification for FOG Based on MWD

The traditional linear device error model for inertial navigation system can not be applied to the problem of line vibration working environment. This paper presents a high order error model for vibration conditions. By analyzing the error propagation characteristics of the quadratic term error in the static and vibrational state, the second error of the accelerometer is the main error term in the line vibration. A 36-order Kalman filter containing the second term error of the accelerometer is established. Compared to the traditional 33-order Kalman filter which do not take the high error item into consideration, the 36-order Kalman filter could identify and compensate the error item correctly. Finally, the navigation verification is carried out under the condition of online vibration. The simulation results show that the velocity error is decreased from 50m/s to 2.2m/s. The position error is decreased from 90000m to 2200m. The attitude error is decreased from 0.7° to 0.01°.