Study On Inertial Combination Of High Dynamic Solid Vibration Gyroscope

Gyroscope and its inertial combination are the key components to realize the attitude measurement,stability control,navigation and guidance of a carrier,which plays an important role in various fields of national defense and economy.In the application fields of conventional artillery guidance,new electromagnetic gun research,oil-gas field development,tunnel excavation,high dynamic environment(high overload,high speed,high rotating speed)present a serious challenge to the angular rate measurement and attitude solution,urgent needing a high dynamic gyro inertial combination with large range,high anti-overload capability and accurate real-time attitude solution.In order to develop a kind of solid vibratory gyro inertial combination which can measure angular velocity directly and attitude in high dynamic environment,this paper focuses on theoretical modeling of rotating parabolic vibrator,gyro signal processing and deviation balance method,gyro inertial combination structure,attitude algorithm and other key technologies.The work and achievements of the paper are as follows:(1)Aiming at the three-axis anti-overload demand,a rotating paraboloid-shaped vibrator for high dynamic vibration gyroscope is proposed.In the orthogonal curve coordinate system,the relationship between the displacement and deformation,the equilibrium equation are analyzed,and the dynamic equation is established.The second-order natural frequency,the mode and the precession factor are obtained,forming the theoretical basis of rotating parabolic vibrating gyroscope.The structural parameters are optimized,and the vibrator with stable vibration frequency and resistance to 15000 g is obtained.(2)Aiming at the factors that affect the performance of the gyroscope,the signal processing and the deviation balance method of the rotating parabolic vibrating gyroscope are studied.The multi-loop high-speed control detection system is constructed,and the angular rate is extracted by the damping control force,which solves the problem of signal processing in high-speed environment.The influence of frequency split and mode shift on gyroscope performance is deduced.The influence of the deviation vibrator is studied qualitatively and quantitatively,and a rapid balance method based on adding mass is proposed to realize the rapid correction of frequency split and vibration offset.The quadrature control loop is designed to suppress the quadrature coupling error between the driving and detection,and the gyro performance is improved.The test results show that the bias stability of the uniaxial gyro prototype is 9.3347°/h,the range is ±3600°/s,and the scale factor nonlinearity is 0.118%.(3)The inertial combination of high dynamic solid vibration gyroscope is constructed,and the system error compensation and high dynamic attitude algorithm are studied.To solve the problem of direct measurement of angular velocity in high overload environment,the orthogonal arrangement of the vibrators is optimized,which can withstand typical artillery firing overload.The main error term of the system is analyzed and the error model is established.The calibration tests are designed to compensate the deterministic error.At the same time,the attitude error mechanism of the carrier under high dynamic environment is revealed,and a high dynamic attitude algorithm for cone rotation isolation by coordinate analysis is proposed,to realize real-time decoupling and divergence elimination.(4)The prototype of high dynamic solid vibratory gyro inertial combination is fabricated,and related performance tests are performed on the ground.The results show that X-axis gyro range is up to ± 3600 °/s,Y-axis and Z-axis gyro range is ±540°/s;the bias stability at room temperature are within 10°/h;the anti-overload capacity is more than 15000 g,and the attitude accuracy is within 3.13° in the laboratory environment.Finally,comprehensive performance is verified through a carrying flight test.The results show that the high dynamic solid vibratory gyro inertial combination can measure the angular velocity of the carrier normally and solve the attitude angle in the high dynamic environment above 15000g.