Research On Calibration And Error Compensation For FOG SINS

This paper is based on Fiber Optic Gyroscope(FOG) and Strapdown Inertial Navigation System(SINS) which are developed by ourselves.The study mainly deals with SINS calibration, dynamic error compensation, mensuration and digital filter technology of random error.Calibration technology mainly makes sure SINS Inertial Measurement Unit-quartz flexibility accelerometer and FOG basic error model parameter. Establish 8- parameter and 4- parameter static error model respectively for accelerometer and FOG. Then base on three-axis inertial testing table, design rate test, 24 position test and bias correction test to gain the model parameters.In the end ,develop a suit of calibration precision checking soft with VC++ 6.0.Dynamic error technology mainly deals with FOG error caused by carrier angular rate and angular acceleration, based on static calibration. In theory we prove that FOG error is related with carrier angular acceleration. Dynamic error model with 13- parameter is set up for FOG, then three axis rate test and three axis swing test are designed to calculate the model parameters.For FOG random error, the principle of Allan variance method in IEEE std, model fitting method and normalization calculation method in National Military std are analysed. Compare the measurement precision and the degree of usability for actual project.The common filtering methods for FOG random error are analysed. Based on digital filtering technology, FOG output data in static state, calibration test and dynamic error test are filtered by digital filter. At last, compare the precision of FOG output and test calibration or compensation.