| 静电陀螺漂移的补偿和监控方法 |
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| 引用本文： | 顾启泰.静电陀螺漂移的补偿和监控方法[J].航空学报,1992,13(5):344-348. |
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| 作者姓名： | 顾启泰 |
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| 作者单位： | 清华大学精密仪器系 北京 100084 |
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| 摘 要： | 简要介绍静电陀螺惯性导航系统的基本原理及其常平架结构。由于静电陀螺具有良好的漂移特性,上述系统位置误差随时间增长速度极低。着重讨论静电陀螺漂移模型及其在系统中补偿和监控方法。利用系统内部冗余轴漂移的实时测量将卡尔曼滤波器应用于上述系统,有效地改善了惯性导航系统的精度;此外还同时估计出绕冗余轴方向陀螺漂移的未知常值偏差,取得满意的仿真结果。
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| 关 键 词： | 惯性导航 陀螺漂移 陀螺监控卡尔曼滤波器 |
| 收稿时间： | 1990-09-11 |
| 修稿时间： | 1991-03-02 |
DRIFT COMPENSATION AND MONITORING FOR ELECTROSTATICALLY SUSPENDED GYROSCOPES |
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| Gu Qi-tai.DRIFT COMPENSATION AND MONITORING FOR ELECTROSTATICALLY SUSPENDED GYROSCOPES[J].Acta Aeronautica et Astronautica Sinica,1992,13(5):344-348. |
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| Authors: | Gu Qi-tai |
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| Institution: | Department of Instrument of Tsinghua University, Beijing, 100084 |
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| Abstract: | This paper presents briefly the essential principle of inertial navigation system (INS) by using electrostatically suspended gyroscopes (ESG) and its gimbal structure. Because of the favourable drift characteristics of ESG, the position errors of the above system grow very slowly with time. The discussion focuses on the ESG's drift model and its compensation as well as monitoring in a inertial navigation system. By using gyroscope monitoring with real-time measurements from the redundant axis within the system, a Kalman filter is applied to the above system with effective improvement of INS accuracy. Besides, a constant but unknown drift bias about the redundant axis is estimated accordingly with successful simulation results. |
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| Keywords: | inertial navigation gyroscope drift gyroscope monitoring Kalman filter |
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