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动力调谐陀螺寻北仪在倾斜状态下寻北误差较大,其原因是动力调谐陀螺模型中各参数没有全部标定且标定精度不够,不能保证寻北仪在工程中的正常使用。因此,提出了一种24位置动力调谐陀螺全参数标定方法,分析了动力调谐陀螺寻北仪倾斜状态下误差的来源及其物理意义,明确了倾斜状态下误差形成的内在机理。并用四元数理论建立倾斜寻北的数学模型、误差补偿模型,仿真了相应的解算算法。并进行了试验研究,结果表明,该方法能有效解决倾斜状态下的寻北精度,在工程应用中效果良好。
Dynamically tuned gyro-finder north seeks large errors in the north under tilted conditions. The reason for this is that all the parameters of the dynamo-tuned gyro model are not calibrated and the calibration accuracy is not enough, and the normal use of the north finder in the project can not be guaranteed. Therefore, a full calibration method of 24-position dynamic tuned gyroscope is proposed. The origin and the physical meaning of the error in the tilted state of the gyro-tuned gyro-finder is analyzed. The intrinsic mechanism of error formation in the tilted state is clarified. And using quaternion theory to establish a mathematical model of tilt north, error compensation model, the corresponding simulation algorithm. The experimental results show that this method can effectively solve the problem of north seeking accuracy in the inclined state and has good effect in engineering application.