哈尔滨工程大学学报Issue(7)：866-872,7.DOI:10.3969/j.issn.1006-7043.201210017
旋转式惯导系统光纤陀螺在线自标定方法
Online self-calibration of FOG for rotational inertial navigation system
摘要
Abstract
To address the issue of the calibration of the fiber optical gyros of the rotational inertial navigation sys⁃tem, we designed the recursive least square (RLS) estimation algorithm based on rotational inertial measurement u⁃nit and related online calibration method to calibrate the error parameters of fiber optic gyros (FOG) online. The in⁃itial alignment of the inertial navigation system can be improved based on the calibration results. For the initial a⁃lignment based on Kalman filter, a reduced⁃order model was proposed to decrease the amount of filtering calcula⁃tions;For the initial alignment based on parameter recognition, the calibrated parameters can be used to calculate the equivalent gyro bias, and thereby, decrease the approximation error of initial azimuth error. Because the proce⁃dure processing signal outputted by each gyro is independent and is of symmetry, applying time division multiple⁃xing to the RLS solver in hardware implementation, the resources for RLS solver can be reduced by 2/3. And the internal divider and trigonometric function solver can be further optimized by time division multiplexing. The pro⁃posed calibration method is of high precision, helps to improve the initial alignment, and is apt to be implemented with hardware, and thus, is of good practicality in engineering application.关键词
旋转式惯导系统/光纤陀螺在线标定/递推最小二乘估计/FPGAKey words
rotational inertial navigation system/fiber optic gyro online calibration/RLS estimation/FPGA分类
交通工程引用本文复制引用
周元,邓志红,王博,付梦印..旋转式惯导系统光纤陀螺在线自标定方法[J].哈尔滨工程大学学报,2013,(7):866-872,7.基金项目
国家自然科学基金资助项目（61127004）． （）
