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为满足高精度寻北的工程需求,针对激光陀螺内部腔体温度变化和锁区不稳定性等因素会使速率偏频激光陀螺标度因数发生缓慢变化的问题,提出了在线估计标定因数的方法,并研究了速率偏频激光陀螺寻北仪及其标度因数测量误差。首先,通过标度因数实验研究其变化规律;然后,仿真分析了激光陀螺标度因数测量误差对寻北精度的影响;最后,根据陀螺测量值周期重复变化规律,提出了一种在线一阶递推估计标度因数变化的算法,通过引入单轴转台的角度测量值,得到了标度因数的变化参数。仿真分析表明,该算法对速率偏频激光陀螺标度因数变化的估计误差优于1×10-6,由标度因数变化引起的寻北标准差减小至2″左右。寻北实验结果表明,该算法能够有效抑制标度因数变化引起的寻北误差,5 min寻北标准差达到24″,基本满足高精度寻北的需求。
In order to meet the engineering requirements of high-precision North-seeking, aiming at the problem that the scale factor of the rate-shifting laser gyro changes slowly due to the variation of the internal cavity temperature and the instability of the lock area, a method of on-line estimation of calibration factor , And studies the measurement error of scale-factor of the rate-shifting laser gyro north finder. First of all, the variation rule is studied experimentally by scale factor. Then, the influence of measuring error of laser gyro scale factor on northing accuracy is simulated. Finally, according to the repeated changing rule of gyroscope’s periodic value, By pushing the algorithm of estimating the variation of the scale factor, the variation parameter of the scale factor was obtained through the measurement of the angle of the single-axis turntable. The simulation results show that the estimated error of the algorithm for the scaling factor of the rate-bias laser gyro is better than 1 × 10-6, and the standard deviation of north seeking caused by the change of scale factor is reduced to about 2. , The algorithm can effectively suppress the north-seeking error caused by the change of scale factor, and the standard deviation of north-seeking in 5 min reaches 24 ", which basically meets the demand of high-precision north finding.