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在高精度捷联惯导系统中,激光陀螺零偏随温度的变化往往不能忽略。基于不同温变环境下的激光陀螺零偏测试实验,分析了激光陀螺的零偏温度漂移特性,研究了陀螺零偏与温度变化、温变速率和温度梯度之间的相关关系,说明了在复杂或快速的温变环境中,激光陀螺零偏除与温度值变化有关外,其受温变速率和温度梯度的影响更为显著。建立了适用于缓变温度环境的静态温度模型和适用于复杂温变环境下的动态温度模型,并在快速温变和随机温变环境下对模型进行了试验验证。结果表明,动态温度模型能很好地实时补偿复杂温变引入的陀螺零偏异常,显著改善陀螺零偏稳定性使其达到或接近常温精度水平。
In high-precision strapdown inertial navigation system, laser gyro zero bias with the temperature changes often can not be ignored. Based on the experiment of zero bias of laser gyroscope in different temperature changing environments, the drift characteristics of laser gyro are analyzed. The correlation between the zero bias of the gyroscope and temperature, temperature change rate and temperature gradient is studied. Or rapid temperature change environment, the zero offset of the laser gyro is related to the change of the temperature value, which is more significantly affected by the temperature change rate and the temperature gradient. The static temperature model which is suitable for the temperature changing environment and the dynamic temperature model which is suitable for the complex temperature changing environment are established. The model is validated under the rapid temperature change and the random temperature changing environment. The results show that the dynamic temperature model can compensate the gyro zero bias anomaly induced by complicated temperature changes in real time and significantly improve the stability of the gyro bias to a temperature near or at room temperature.