金属壳谐振陀螺误差补偿方法研究

针对金属壳谐振陀螺的误差建模与补偿方法进行研究.首先,通过分析金属壳谐振陀螺的敏感机理,找到影响陀螺性能的误差源,建立金属壳谐振陀螺的误差模型.然后,研究陀螺的误差传播特性,对误差源进行分类,提出金属壳谐振陀螺的误差补偿方法.最后,利用试验方法对建立的误差模型和补偿方法进行验证.试验结果表明:经过补偿后的金属壳谐振陀螺在工作温度范围内(-45℃ ～55℃)零偏不稳定性降低至4.67(°)/h,全温度段线性度由0.2％降低至0.03％,随机游走为0.6982(°)/h1/2,陀螺的综合性能得到显著提升,证明了误差模型和补偿方法的有效性.     

闭环光纤陀螺研究

 在开环光纤陀螺的基础上,采用锯齿波相位调制实现相移补偿,组成闭环光纤陀螺样机。通过对补偿相移特性的分析提出利用一种比较简单的实验方法,综合分析陀螺的线性度误差,对提高线性度有重要意义。本文给出了由锯齿波回扫时间引起的频差的实测结果。     

Spectral Analysis of Optimal and Suboptimal Gyro Monitoring Filters

Gyro monitoring filters are used to estimate and correct gyro drift rates of local-level inertial navigation systems. Conventional gyro monitoring filters are usually designed based on a simplified model of gyro drift rate. Furthermore, the effectiveness of these filters-and of many filters of the "Kalman" type-is often measured in terms of the root mean square (rms) criterion in contrast to the spectral content criterion typical of classical Wiener filtering theory. This paper has two objectives: to propose a gyro monitoring filter which is based on a more detailed model of gyro drift rate; and to propose a method of filter performance evaluation which uses as criterion a measure of the spectral content of the error process. The proposed gyro monitoring filter is shown to have improved spectral contents resulting in superior navigation performance for the gyro error models used in the calculations (comparable to commercial-grade aircraft gyros).     

激光惯组结构系统陀螺抖动性能确定方法与应用

当二频机抖陀螺相对于其安装基座的抖动幅度较小时,偏频技术不能很好消除锁区的影响,陀螺精度将降低,甚至停止抖动失去功能。激光陀螺抖动性能与结构密切相关,给出了激光惯组箱体减振器本体抖轮陀螺体系统的激光陀螺抖动多体动力学模型及关键参数识别方法,能够根据激光惯组的结构、减振设计方案计算陀螺抖动性能,进而选取合适参数及结构布局解决激光惯组系统陀螺抖动效率差的问题。最后,通过型号实际问题分析验证了该方法的准确性及工程实用性。     

三浮陀螺温度场数值分析

本文主要通过建立三浮陀螺的温度场模型,利用Fluent软件仿真其内部工作状态温度场分布情况,并通过实验验证分析结果的正确性,为优化三浮陀螺热设计提供参考依据。     

激光陀螺吸气剂的测试方法研究

激光陀螺谐振腔内部的工作气体纯度直接影响陀螺的光功率输出,吸气剂作为激光陀螺内部维持气体纯度的关键部件,是决定激光陀螺光功率长期稳定性的关键因素。针对激光陀螺对吸气剂的使用需求,提出了一种含振动冲击筛选与质谱检测等手段相结合的综合检测方法,并通过实验对吸气剂的结构强度、吸气性能与激活条件进行了分析。实验结果表明,该方法能够有效地判断某种吸气剂选型是否满足激光陀螺的使用要求,为激光陀螺吸气剂的选择提供指导。     

一种提升空间三轴激光陀螺性能的谐振腔方案研究

针对现有空间三轴机抖激光陀螺因通道间放电耦合引入了零偏误差导致陀螺性能损失的问题,提出了一种高精度空间三轴谐振腔改进设计实现方案.该方案从空间三轴激光陀螺与单轴激光陀螺放电系统的差异出发,分析了空间三轴激光陀螺不同放电状态引入零偏误差的机理,明确了高精度空间三轴激光陀螺各通道的放电电流控制需求.同时,分析结果表明,减小通道间的放电耦合可降低该型陀螺的零偏耦合误差项,因此需对空间三轴谐振腔进行放电结构的去耦合优化设计.最后,针对提出的空间三轴谐振腔改进设计方案,开展了陀螺性能试验验证,试验结果表明,空间三轴机抖激光陀螺的精度提升了5.7％以上.     

液浮陀螺仪热变形数值分析

本文主要利用ansys workbench软件对液浮陀螺仪的热变形情况进行数值分析,并对铍材和铝材液浮陀螺的热变形情况进行对比,为优化液浮陀螺热设计提供参考依据。     

一种新型机载对地观测用三轴稳定平台陀螺安装方式

陀螺安装方式及相应的算法编排是稳定平台设计中的一项关键技术。针对机载对地观测用三轴稳定平台特点,提出了将方位陀螺安装在方位环上,俯仰陀螺和横滚陀螺安装在俯仰环上的陀螺安装方式。利用空间矢量分解理论分析了陀螺输出角速度信号的投影关系及电机控制信号的分配;基于稳定平台系统模型,对理想正交情况和考虑陀螺安装误差情况进行了仿真分析,验证了此种安装方式的可行性和优越性。分析表明,在同等条件下,所提出的安装方式减小了稳定平台的机械尺寸,降低了稳定平台的重量和功耗,实现了三维角速度的正交测量,简化了三轴解耦控制算法。研究结论可为其他三轴稳定平台结构设计和陀螺安装方式设计提供参考。     

Angular Velocity Measurement Using Rate Gyros in a Spinning Vehicle

It is shown that when the gyro spin vector is in opposition to the spin vector of the vehicle, the output differential equation of the gyro becomes unstable for large vehicle spin values. When the gyro is used with its spin vector along the spin vector of the vehicle, the steady-state response of the gyro is a nonlinear function of the roll rate of the vehicle.     

空间三轴激光陀螺双通道调腔技术研究

反射镜的复用减小了空间三轴激光陀螺的体积,但也增加了其调腔难度.传统调腔技术沿用单轴激光陀螺的调腔模式对空间三轴激光陀螺进行调腔,步骤复杂且耗时较长.针对此问题,结合空间三轴激光陀螺的结构特点,分析了传统调腔技术效果欠佳的原因,并提出了一种双通道调腔技术.最后搭建了实验样机,利用双通道调腔技术对空间三轴激光陀螺进行调腔...     

激光陀螺四位置寻北仪提高精度方法

为消除激光陀螺零偏和常值漂移的影响,采用四位置方案来实现高精度寻北。本文简述了单轴激光陀螺四位置寻北方案,给出了陀螺敏感轴与机体系前向偏差角标定方法,研究了寻北仪在倾斜基座下数据补偿算法。本文研究了由于在四个位置上电机转动不到位所引起的误差补偿算法。通过对寻北仪系统测试,采用电机转动不到位补偿后数据标准差降低了0.02º,激光陀螺寻北仪系统达到了高精度快速寻北的要求。     

Comparison of hemispherical resonator gyro and optical gyros

The basic design of the small hemispherical resonator gyro inertial and tactical grade sensors and associated electronics is described. To reduce the cost of the electronics and maintain part per million accuracy, emphasis has been placed on digital control and processing techniques. A comparison of the ring laser gyro, fiber optic gyro, and hemispherical resonator gyro sensors shows that the latter offer lower cost, smaller size, and higher reliability than their optical counterparts     

Theory of Operation of an Elastically Supported Tuned Gyroscope

Detailed derivation of the transfer function for a multigimbal, elastically supported, tuned gyro is presented and comparison made between its characteristics and those of a classical two-axis, free-rotor gyro. Knowledge of the gyro transfer function is necessary for the purpose of servo analysis of the system in which the gyro is used; also, the transfer function is a basis of evaluation of errors caused by angular inputs that occur at twice spin frequency.     

某型方位旋转平台惯导系统转速模型分析与验证

某型平台惯导系统采用方位旋转调制技术,通过对台体匀速转动的控制调制陀螺的漂移。台体的转速不是固定值,是随惯导系统所在地区而改变的,且台体转速异常必伴随方位陀螺故障。为了正确判断台体转速的理论是否正常,文章推导了转速的理论计算公式,不同地区惯导系统的实测数据表明实测值与理论计算值一致,验证了转速计算公式的正确性,为监控方位陀螺状态提供了技术途径。     

光纤陀螺惯导稳定平台与旋转调制方法

光纤陀螺仪在随机误差方面表现出极佳的性能优势,但受限于其标度因数不理想的现实。针对航海用长航时、高精度光纤陀螺惯导系统的使用需求,设计了基于光纤陀螺数字信号实现载体三维角运动隔离的同时完成惯性测量装置的旋转调制功能,可有效减小光纤陀螺标度因数误差与载体运动角速度的耦合误差,同时充分发挥光纤陀螺随机游走小的精度优势。理论仿真验证了光纤惯导稳定平台加旋转调制方法的优越性和可行性,为光纤陀螺惯导系统在高精度导航领域中的应用提供了技术基础。     

Magnetically suspended MEMS spinning wheel gyro

A concept of a magnetically suspended spinning wheel gyro is described. The gyro is based on a patented, planar magnetic actuator and position sensor configuration with a gyro wheel that is rotated by a multi-phase electromagnetic spin motor. The motor and actuator/sensor configurations, in addition to providing the necessary forces to suspend the spinning wheel, are amenable to fabrication using some of the developing MEMS fabrication technologies, making batch fabrication of the gyro possible. This provide the capability for high production yield in high volume through the use of batch processing, without the need for skilled hand labor, resulting in high yields, high reliability, and low cost of ownership. The gyro concept is described in detail. The high-speed rotation of the wheel, somewhat smaller than a dime, can produce an angular momentum much larger than that of the Coriolis force based MEMS gyros now receiving intensive development, and is expected to provide considerably higher performance than currently available from this class of instrument. Two axes of angular rate information and three axes of acceleration information are provided by the control loops that center the wheel within the case. Thus, two such magnetically suspended spinning wheel gyros can be used to implement a complete IMU, and can also provide redundancy in three of the five degrees of freedom     

陀螺稳定平台数字稳定电路硬件设计与实现

针对某型陀螺稳定平台目前仍然采用模拟稳定电路的问题，设计了陀螺稳定平台数字稳定硬件电路。数字稳定硬件电路采用DSP处理技术、24位高精度AD采集技术及H桥功率放大技术。实验结果表明，该电路能满足各种性能指标要求。该电路的实现为后续自适应控制理论、数字化及智能化控制技术应用于陀螺稳定平台奠定了硬件基础。     

无定向激光陀螺捷联惯组标定方法的对比研究

对三种无定向激光陀螺捷联惯组标定方法进行了对比研究,详细分析了各种方案的标定原理,提出了利用标准差作为评价标定方法优劣的指标.结合对某一激光陀螺捷联惯组标定试验结果的分析,得到了在无北向基准的情况下,三种标定方法在标定时间和标定精度两个指标上的对比结果,为无定向激光捷联惯组的标定提供了指导,具有较大的工程应用价值.     

Stability of Gyro in a Vehicle Spinning with Uncertain Angular Velocity

The analysis of a single-axis rate gyroscope mounted in a vehicle which is spinning with uncertain angular velocity about the spin axis of the gyro is presented. The nonlinearity in the equation of motion of the gimbal is retained. Using circle criterion, it is shown that the gimbal motion is globally asymptotically stable if Nyquist plot of the linear transfer function of the gyro lies in the interior of a certain disk. A simple analytical relation for the selection of gyro parameters for stability is derived.