CN110736483B - Deflection modulation zero-offset compensation method for gyroscope in inertial measurement unit - Google Patents
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Abstract
The invention relates to a deflection modulation zero offset compensation method of a gyroscope in an inertial measurement unit. The method comprises the steps that the relation between an initial deflection angle of an inertia measurement unit and a modulation axial direction is utilized, a deflection shaft and the initial deflection angle are determined according to the axial direction needing to be modulated, the inertia measurement unit deflects at a small angle around the deflection shaft by taking the initial deflection angle as a center according to deflection displacement, the gyroscope zero deflection on the modulation axial direction can be modulated into a signal with periodic change, the mean value of the signal in a deflection period is zero, an error term caused by the axial gyroscope zero deflection in an inertial navigation error propagation equation is enabled to be zero or close to zero after integration, and error compensation on the modulation axial direction is achieved. The invention can realize zero offset compensation in a certain axial direction only by rotating in a small angle in the modulation process, and compared with the traditional rotary modulation, the invention can reduce the volume, weight, cost and technical difficulty of the system and improve the reliability of the system. The invention belongs to the technical field of inertial navigation, and can be applied to error compensation of an inertial measurement unit.
Description
Technical Field
The invention relates to a deflection modulation zero offset compensation method of a gyroscope in an inertial measurement unit, which is suitable for the occasion of error compensation of the inertial measurement unit.
Technical Field
The deviation of the gyroscope in the inertial measurement unit can be generally divided into a constant deviation and a random deviation. The constant deviation is also called zero deviation, and can be compensated in advance. However, the zero offset also varies, and in addition to the successive start-up error, the zero offset also varies day by day, that is, the zero offset slowly varies to such an extent that the accuracy of the navigation system cannot be allowed as the operation time of the gyroscope increases after one start-up. The rotation modulation technology is used as an automatic compensation method for the constant deviation of the inertial device, and can automatically modulate the zero deviation of the gyroscope to counteract the influence of the constant deviation on the system precision. By adopting the automatic compensation method, the long-time working precision of the strapdown inertial navigation system can be improved, and the advantage of the autonomy of inertial navigation is fully exerted.
However, the rotation modulation technique requires a rotation mechanism to perform rotation operation on the inertial measurement unit, which undoubtedly increases the volume, weight, cost and technical complexity of the inertial navigation system, and reduces the system reliability.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: aiming at the zero offset problem of a gyroscope in an inertial measurement unit and the problems of large volume and weight, high cost, high technical complexity and the like of a rotating mechanism in the traditional rotation modulation technology, a deflection modulation zero offset compensation method of the gyroscope in the inertial measurement unit is provided. The method of the invention can effectively compensate the zero offset of the gyroscope in a certain axial direction by selecting the deflection axis and the reasonable initial deflection angle to carry out deflection motion. Compared with the traditional rotating mechanism, the deflection rotating mechanism used by the invention can reduce the volume, weight, cost and technical complexity of the system, improve the reliability of the system and provide a new scheme for compensating the zero offset of the gyroscope in the inertial measurement unit.
The technical solution of the invention is as follows:
and the zero offset of a gyroscope in a certain axial direction in the inertial measurement unit is compensated by selecting a deflection shaft and a reasonable initial deflection angle to perform deflection motion. The method specifically comprises the following steps:
(1) determining a deflection axis and an initial deflection angle according to the axial direction required to be modulated, and selecting the y axis as the deflection axis when modulating the x axis of the carrier system, wherein the initial deflection angle is as follows:
wherein, theta0For an initial deflection angle, epsilonxZero offset, epsilon, for an inertial measurement unit x-axis gyroscopezZero bias is provided for the z-axis gyroscope of the inertial measurement unit, and arctan is an arc tangent function;
when the x-axis of the carrier system is modulated, if the z-axis is selected as the deflection axis, the initial deflection angle is as follows:
wherein epsilonyZero offset for the inertial measurement unit y-axis gyroscope;
when the y-axis of the carrier system is modulated, if the x-axis is selected as the deflection axis, the initial deflection angle is as follows:
when the y-axis of the carrier system is modulated, if the z-axis is selected as the yaw axis, the initial yaw angle is as follows:
when the z-axis of the carrier system is modulated, if the x-axis is selected as the deflection axis, the initial deflection angle is as follows:
when the z-axis of the carrier system is modulated, if the y-axis is selected as the yaw axis, the initial yaw angle is as follows:
(2) according to the obtained deflection shaft and the initial deflection angle, the inertia measurement unit is installed in the carrier by using a deflection mechanism, so that the deflection shaft of the inertia measurement unit is superposed with the corresponding carrier shaft, and the difference angle between the other two shafts of the inertia measurement unit and the corresponding carrier shaft is the initial deflection angle;
(3) and deflecting the inertial measurement unit according to the established deflection and indexing scheme, wherein the deflection and indexing scheme of one period is as follows:
(a) deflecting in the counterclockwise direction by an angle theta0→θ0+Δθ；
(b) Deflected clockwise by an angle theta0+Δθ→θ0-Δθ；
(c) Deflecting in the counterclockwise direction by an angle theta0-Δθ→θ0。
Where Δ θ is the angular magnitude of the deflection.
(4) The inertia measurement unit is not interrupted around the period of the deflection shaft, and the compensation of the zero offset of the gyroscope in a certain axial direction is realized.
The gyroscope described in the present invention includes all types of gyroscopes applied in inertial measurement units, including but not limited to flexible gyroscopes, magnetic floating gyroscopes, liquid floating gyroscopes, electrostatic gyroscopes, three floating gyroscopes, two floating gyroscopes, micro electro mechanical gyroscopes, laser gyroscopes, fiber optic gyroscopes, and the like.
The invention principle of the invention is as follows: the inertial measurement unit carries out small-angle deflection around a deflection shaft by taking an initial deflection angle as a center according to deflection displacement, the gyroscope zero deflection on the modulation shaft direction can be modulated into a signal with periodic variation, the mean value of the signal in a deflection period is zero, an error term caused by the axial gyroscope zero deflection in an inertial navigation error propagation equation is zero or close to zero after integration, and error compensation on the modulation shaft direction is realized.
Compared with the prior art, the scheme of the invention has the main advantages that: compared with the traditional rotating mechanism, the deflection mechanism with small-angle deflection can obviously reduce the volume, weight, cost and technical complexity of the system and improve the reliability of the system.
Drawings
FIG. 1 is a diagram of an embodiment;
FIG. 2 is a schematic diagram of an inertial measurement unit coordinate system and a carrier coordinate system;
FIG. 3 is a schematic view of inertial measurement unit deflection;
FIG. 4 is a graph of deflection angle change during deflection modulation;
FIG. 5 is a graph of a gyroscope zero bias comparison of a modulated axis versus an unmodulated axis after deflection modulation;
FIG. 6 is a graph of gyroscope zero-bias integral comparison of modulated axis versus unmodulated axis after deflection modulation.
Detailed description of the preferred embodiments
The specific embodiment of the present invention is shown in fig. 1, the definition of the inertial measurement unit coordinate system and the carrier coordinate system and the installation of the deflection mechanism are schematically shown in fig. 2, and the x-axis is taken as the deflection axis in fig. 2 for illustration, wherein, the xyz system and the x-axis are taken as the deflection axisbybzbThe system is respectively an inertial measurement unit coordinate system and a carrier coordinate system. The specific implementation steps are as follows:
(1) determining a deflection axis and an initial deflection angle according to the axial direction required to be modulated, and selecting the y axis as the deflection axis when modulating the x axis of the carrier system, wherein the initial deflection angle is as follows:
wherein, theta0For an initial deflection angle, epsilonxZero offset, epsilon, for an inertial measurement unit x-axis gyroscopezZero offset for the inertial measurement unit z-axis gyroscope;
when the x-axis of the carrier system is modulated, if the z-axis is selected as the deflection axis, the initial deflection angle is as follows:
wherein epsilonyZero offset for the inertial measurement unit y-axis gyroscope;
when the y-axis of the carrier system is modulated, if the x-axis is selected as the deflection axis, the initial deflection angle is as follows:
when the y-axis of the carrier system is modulated, if the z-axis is selected as the yaw axis, the initial yaw angle is as follows:
when the z-axis of the carrier system is modulated, if the x-axis is selected as the deflection axis, the initial deflection angle is as follows:
when the z-axis of the carrier system is modulated, if the y-axis is selected as the yaw axis, the initial yaw angle is as follows:
(2) according to the obtained deflection shaft and the initial deflection angle, the inertia measurement unit is installed in the carrier by using a deflection mechanism, so that the deflection shaft of the inertia measurement unit is superposed with the corresponding carrier shaft, and the difference angle between the other two shafts of the inertia measurement unit and the corresponding carrier shaft is the initial deflection angle;
(3) the inertial measurement unit is subjected to periodic continuous deflection according to the established deflection indexing, and as shown in fig. 3, the deflection indexing scheme of one period is as follows:
(a) deflecting in the counterclockwise direction by an angle theta0→θ0+Δθ；
(b) Deflected clockwise by an angle theta0+Δθ→θ0-Δθ；
(c) Deflecting in the counterclockwise direction by an angle theta0-Δθ→θ0；
Where Δ θ is the angular magnitude of the deflection.
Taking the modulation of the y-axis of the carrier system as an example, the modulated gyro integral value is calculated. The x axis is selected as a deflection axis, namely the x axis of the inertia measurement unit is coincident with the x axis of the carrier system and rotates around the x axis by theta0The inertial measurement unit is enabled to have an initial deflection angle, then the inertial measurement unit performs uniform-speed small-angle deflection around the x axis by taking the initial deflection angle as the center, and the specific indexing scheme is as follows:
deflection 1: at an initial deflection angle theta0As a starting point, deflect by Delta theta in a counterclockwise direction to reach theta1＝θ0The + Δ θ position, integrating the y-axis error, yields:
wherein,
the carrier system is zero offset of the y axis, omega is the deflection angle rate, t is the integration time,Tone quarter of the deflection period.
Deflection 2: at theta1As a starting point, the rotor is deflected clockwise by 2 delta theta to reach theta2＝θ0- Δ θ position, available:
deflection 3: at theta2As a starting point, deflect by Delta theta in a counterclockwise direction to reach theta0Position, one can obtain:
the cumulative error for one complete deflection period can be obtained by summing the integrals of the three indexes:
according to equation (9), it is obtained:
εycosθ0-εzsinθ0＝0 (17)
therefore, after deflection of a complete period, the carrier system modulates the zero offset integral of the axial gyroscope to be zero, and complete compensation of the zero offset is realized.
In order to prove the correctness and the effectiveness of the method, the method is subjected to mathematical simulation. Assuming that the deflection angle speed is 10 DEG/s at a constant speed, the constant errors of the three-axis gyroscope are all 0.01 DEG/h, the initial deflection angle is set to be 45 DEG according to the formula (9), deflection is carried out according to an indexing scheme of 45 DEG → 55 DEG → 35 DEG → 45 DEG, and the running time is 100 s. The change of the deflection angle in the simulation process is shown in fig. 4, where θ is the deflection angle, and the visible deflection angle is seen to be deflected back and forth with 45 ° as the center and 10 ° as the amplitude. The three axial zero-offset signal variations of the carrier system are shown in FIG. 5, where εx、εy、εzThe three axial gyroscopes of the carrier system have zero offset respectively, and because the x axis is a deflection axis, a zero offset signal is a constant value and is not influenced by modulation; the y axis is the modulation axial direction, after modulation, the signal of the Y axis changes periodically, and the average value is zero; the z-axis is affected by the modulation due to the following deflection, and the signal also undergoes periodic changes, but the mean value is not zero. FIG. 6 is the zero-shift integral of the three axes of the carrier system, where ^ εx、∫εy、∫εzThe carrier system is respectively the zero-offset integral of the three axial gyroscopes, so that the zero-offset integral of the modulating axial y axis is in periodic change, the integral is not dispersed, and the other two non-modulating axial integrals are dispersed. The mathematical simulation test shows that the deflection modulation can generate a better modulation result on the modulation axial direction, the divergence of the accumulated error is well controlled, the accumulated error can be completely eliminated under an ideal condition, and the problem of divergence of the accumulated error exists in the other two unmodulated axes.
Therefore, the method well relieves the problem of cumulative error divergence caused by zero offset of the gyroscope on the modulation axis of the inertial measurement unit, and provides a foundation for high-precision navigation calculation and other applications.
Those skilled in the art will appreciate that the details of the present invention not described in detail herein are well within the skill of those in the art.
Claims (3)
1. A deflection modulation zero offset compensation method of a gyroscope in an inertial measurement unit is characterized in that: the method realizes the zero offset compensation of the gyroscope in a certain axial direction through a deflection inertial measurement unit, and specifically comprises the following steps:
(1) determining a deflection axis and an initial deflection angle according to the axial direction required to be modulated, and selecting the y axis as the deflection axis when modulating the x axis of the carrier system, wherein the initial deflection angle is as follows:
wherein, theta0For an initial deflection angle, epsilonxZero offset, epsilon, for an inertial measurement unit x-axis gyroscopezZero bias is provided for the z-axis gyroscope of the inertial measurement unit, and arctan is an arc tangent function;
when the x-axis of the carrier system is modulated, if the z-axis is selected as the deflection axis, the initial deflection angle is as follows:
wherein epsilonyZero offset for the inertial measurement unit y-axis gyroscope;
when the y-axis of the carrier system is modulated, if the x-axis is selected as the deflection axis, the initial deflection angle is as follows:
when the y-axis of the carrier system is modulated, if the z-axis is selected as the yaw axis, the initial yaw angle is as follows:
when the z-axis of the carrier system is modulated, if the x-axis is selected as the deflection axis, the initial deflection angle is as follows:
when the z-axis of the carrier system is modulated, if the y-axis is selected as the yaw axis, the initial yaw angle is as follows:
(2) according to the obtained deflection shaft and the initial deflection angle, the inertia measurement unit is installed in the carrier by using a deflection mechanism, so that the deflection shaft of the inertia measurement unit is superposed with the corresponding carrier shaft, and the difference angle between the other two shafts of the inertia measurement unit and the corresponding carrier shaft is the initial deflection angle;
(3) and carrying out periodic uninterrupted deflection according to the formulated deflection transposition so as to realize zero offset compensation of the gyroscope in the designated axial direction.
2. The method of claim 1, wherein the yaw modulation zero offset compensation of the gyroscope of the inertial measurement unit is performed by:
(1) deflecting in the counterclockwise direction by an angle theta0→θ0+Δθ；
(2) Deflected clockwise by an angle theta0+Δθ→θ0-Δθ；
(3) Deflecting in the counterclockwise direction by an angle theta0-Δθ→θ0；
Where Δ θ is the angular magnitude of the deflection.
3. The method of claim 1, wherein the gyroscopes of the inertial measurement units comprise all types of gyroscopes employed in inertial measurement units, including flexible gyroscopes, magnetic floating gyroscopes, liquid floating gyroscopes, electrostatic gyroscopes, three floating gyroscopes, two floating gyroscopes, microelectromechanical gyroscopes, laser gyroscopes, and fiber optic gyroscopes.
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