Research On Calibration Method Of Inertial Combination Of Three Gyroscopes Based On Centrifuge

With the continuous development and expansion of aerospace technology,the research on improving the calibration accuracy of inertial components has become a hot spot in the development of inertial navigation systems.The existing calibration method for each gyroscope in the inertia combination has a rate calibration method,but we can now achieve high precision for the navigation system.The method of measuring the gyroscope drift coefficient under the original low speed 1 g gravity field cannot meet the current accuracy requirements.It hinders the development of high precision of inertial navigation systems.The precision centrifuge can provide large centripetal acceleration under high-speed rotation,which stimulates a large input specific force,and finally calibrates the high-order static error model coefficient of the gyroscope.However,the application of the centrifuge can excite a large input specific force,and also produces a large angular rate.A small error of the centrifuge will cause a large deviation of the calibration gyro coefficient,and the influence of the centrifuge error is required.Key Analysis.In this paper,a new centrifugal centrifuge-based calibration method for multi-position gyroscope drift coefficient is studied.Based on this,the calibration method of inertia combination of three gyroscopes based on centrifuge is studied.The main work of this paper is as follows:1.In order to accurately calibrate the static error model coefficients of the single-degree-of-freedom gyroscope,select the precision centrifuge with the inversion platform,establish the corresponding coordinate system and analyze the error sources in each coordinate system of the single-degree-of-freedom gyroscope.The homogeneous transformation method is used to calculate the specific force input nominal value and the precise angular velocity input on each axis of the single-degree-of-freedom gyroscope,and then according to the gyroscope static error model and the specific force input and angular velocity input under the gyroscope 16 position.An accurate calculation expression for each drift coefficient is given,so that the error can be compensated for the identification result by the set of expressions.2.In order to achieve accurate calibration of the three gyroscopes static error model coefficients simultaneously in the inertia combination,when the drift rate coefficient of the gyroscope is calibrated on a precision centrifuge with a reversing platform,the centrifugation of each gyroscope coefficient may be affected.The machine error source is used to establish the coordinate system corresponding to the error.The exact input angular velocity and the input specific force expression on each axis of the three gyroscopes are derived by the homogeneous transformation method.16-position method is designed to calibrate.The error model coefficients of the three gyroscopes are simultaneously identified by the least squares method.The drift coefficients of the three gyroscopes are simultaneously identified.The identification results are compared with the set parameters.The static error drift coefficients of the three gyroscopes are analyzed.The effect of calibration accuracy.In summary,the research scheme of the inertial combination calibration method based on centrifuge for three gyroscopes is feasible and effective.