宇航学报

宇航学报 ›› 2017, Vol. 38 ›› Issue (10): 1079-1087.doi: 10.3873/j.issn.1000-1328.2017.10.008

• 制导、导航、控制与电子 • 上一篇    下一篇

具有高适应性的光纤陀螺零偏非线性温度误差补偿方法

卓超，杜建邦   

  1. 1. 北京航天自动控制研究所，北京 100854；2. 宇航智能控制技术国家级重点实验室，北京 100854
  • 收稿日期:2017-06-19 修回日期:2017-07-27 出版日期:2017-10-15 发布日期:2017-10-25
  • 基金资助:

    国家自然科学基金（61603365）

A Highly Adaptive Compensation Method for Nonlinear Thermal Bias Error of Fiber Optic Gyroscopes

ZHUO Chao, DU Jian bang   

  1. 1. Beijing Aerospace Automatic Control Institute, Beijing 100854, China;
     2. National Key Laboratory of Science and Technology on Aerospace Intelligent Control, Beijing 100854, China
  • Received:2017-06-19 Revised:2017-07-27 Online:2017-10-15 Published:2017-10-25

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摘要：

确定了光纤陀螺零偏温度误差模型的组成并设计温度试验验证了所选模型项的充分性。通过反解温箱传递函数实现了温箱的输入控制，并控制陀螺本体进行了恒定速率升降温，再结合不同高低温区间的温度循环操纵误差轨线完成了对于温度/温变速率平面的覆盖，揭示了平面覆盖性与环境适应性间的联系。借助非线性偏最小二乘估计对零偏非线性温度漂移模型进行了高精度辨识，获得了各温度因素的组成形式与影响权重。最后利用随机变温与惯导冷启动试验验证了本方法对于复杂温度环境的高适应性。经温度误差补偿后，全温范围陀螺零偏稳定性由0.02°/h水平降至优于0.005°/h。

关键词: 光纤陀螺, 零偏温度误差, 温度试验设计, 非线性偏最小二乘

Abstract:

The composition of the thermal bias error of fiber-optic gyroscopes is determined and a series of temperature experiments are designed to validate the adequacy of the selected modeling terms. The inverse solution of the chamber transfer function is obtained to realize the control of the chamber input and manipulate the body temperature of the gyroscopes to change at the constant rates. Combining this invariant rate changing experiment with the thermal cycle in different temperature zones, the error trajectory is directed to cover the temperature/temperature derivative plane which illustrates the dependence relation between the plane coverage and the environment adaptability. The nonlinear thermal drift model is accurately identified by means of the nonlinear partial least square estimation. Also the form and the contribution of each temperature component leading to the drift are acquired simultaneously. Both the random thermal variation and SINS cold boot experiments demonstrate the high adaptability of the proposed method to the complex temperature environment. After the thermal compensation, the gyro bias stability in full temperature range is reduced from the level of 0.02°/h to better than 0.005°/h.

Key words: Fiber optic gyroscope, Thermal bias error, Temperature experiment design, Nonlinear partial least square

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