热环境下激光陀螺捷联惯性系统误差机理及建模方法研究
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摘要
激光陀螺是应军事需求而迅速发展起来的一种光学传感器,它基于Sagnac效应,是捷联式惯性导航系统的理想器件,在航空、航海、定位定向、导弹、陆地导航等方面得到了广泛的应用。然而各种误差因素的影响是制约陀螺精度进一步提高的主要原因。其中,环境温度的变化对激光陀螺的零偏误差影响较大,具有很强的随机性和不稳定性。因此,为了提高捷联式惯性系统的精度,使系统获得更高的稳定性,必须建模分析研究温度对陀螺零偏输出的影响,提高系统的使用精度。
首先,简单介绍了课题研究背景及国内外相关领域发展概况,推导说明了激光陀螺测量原理,阐述了影响激光陀螺输出精度的三大误差,分析和探讨了陀螺零偏热致误差机理及其补偿的几种思路。
其次,根据激光陀螺捷联惯性系统输出误差的特点,提出了系统级温度误差建模思想。并进行了实验设计,提出多传感器加权信息融合的数据处理方法;实验采用静态条件下的标定方法,基于捷联惯性系统的误差模型方程,用广义逆算法分离求得四频差动激光陀螺惯性组合的各零偏及标度因数值;根据以往温度误差模型的结构特点,运用渐近辨识理论中的最终输出误差准则对温度误差模型中非线性部分的阶次进行准确的计算,确定了合理的温度误差模型结构;为了解决用最小二乘法辨识模型结构的系数时,信息矩阵求逆容易溢出的问题,采用了自适应的岭估计算法确定陀螺零偏温度误差模型的系数,实现了系统级的温度误差建模。所得到的温度误差模型补偿效果比定阶前明显提高。
最后,结合二频机抖激光陀螺惯性组合的低温启动实验,针对最小二乘一次完成算法在大容量数据参与运算情况下信息矩阵求逆容易溢出的问题,推证了递推最小二乘估计算法。实际的工程仿真结果证明,该方法既明显提高了温度误差模型的拟合精度与计算速度,又节约了计算机内存,适用于数据量较大、建模速度要求较高的系统在线辨识。
Laser gyro is an optical sensor which was invented and developed by military requirements. It works on the effect of Sagnac and is the ideal device of Strapdown Inertial Navigation System (SINS). So it is widely used in the areas of aviation, position finding, guided missile and land guidance. Because of the various errors in laser gyro, the precision of developing is restricted. Thereinto, temperature is one of the most important elements that affect the output precision of bias. The main features are randomness and instability.To improve the accuracy and stabilization of SINS, we must modeling analysis thermal induced bias error.With the method enhance the precision of SINS.
First, backgrounds and developments of related areas at home and abroad are briefly presented. The measurement principle of laser gyro is derived and the three main error factors that affect the output accuracy of laser gyro are narrated. Several ideas of thermal induced bias and their compesation methods are analysed emphatically.
Second, according to characteristics of laser SINS's output error mechanism, proposed system-level temperature error modeling theory. Conducted an experimental design and proposed weighted multi-sensor fusion of data processing method.The experiment was carried out under static state, and the error model of SINS was derived to calibrate the four mode multi-oscillation gyro's bias and scaling factors using generalized inverse algorithm. Based on the past temperature error models and using Final Output Error criteria of Asymptotical Identification theory, the rank of nonlinear part of temperature error models is calculated, and the best structure of temperature error compensation model is determined. The paper applies Self-adapt Ridge Regression estimator to calculate the coefficients of the temperature error models to avoid overflowing of least square algorithm, and establishes a system-level temperature error compensation. The experiment results show that the method is applicable, and the acquisition precision of the system has been improved obviously.
Last, based on the hypothermia lauching experiment of dithered gyro, using recursive least square algorithm to calculate the coefficients of the temperature error models to avoid overflowing of LS algorithm. The experiment and simulation demonstrate that the recursive algorithm is correct and effective, with the advantage of less computation time, valid parameter estimation and small modeling errors. The algorithm is suitable for on-line modeling applications in the cases of large-scale measurement data and the requirements of high efficiency as well.
首先,简单介绍了课题研究背景及国内外相关领域发展概况,推导说明了激光陀螺测量原理,阐述了影响激光陀螺输出精度的三大误差,分析和探讨了陀螺零偏热致误差机理及其补偿的几种思路。
其次,根据激光陀螺捷联惯性系统输出误差的特点,提出了系统级温度误差建模思想。并进行了实验设计,提出多传感器加权信息融合的数据处理方法;实验采用静态条件下的标定方法,基于捷联惯性系统的误差模型方程,用广义逆算法分离求得四频差动激光陀螺惯性组合的各零偏及标度因数值;根据以往温度误差模型的结构特点,运用渐近辨识理论中的最终输出误差准则对温度误差模型中非线性部分的阶次进行准确的计算,确定了合理的温度误差模型结构;为了解决用最小二乘法辨识模型结构的系数时,信息矩阵求逆容易溢出的问题,采用了自适应的岭估计算法确定陀螺零偏温度误差模型的系数,实现了系统级的温度误差建模。所得到的温度误差模型补偿效果比定阶前明显提高。
最后,结合二频机抖激光陀螺惯性组合的低温启动实验,针对最小二乘一次完成算法在大容量数据参与运算情况下信息矩阵求逆容易溢出的问题,推证了递推最小二乘估计算法。实际的工程仿真结果证明,该方法既明显提高了温度误差模型的拟合精度与计算速度,又节约了计算机内存,适用于数据量较大、建模速度要求较高的系统在线辨识。
Laser gyro is an optical sensor which was invented and developed by military requirements. It works on the effect of Sagnac and is the ideal device of Strapdown Inertial Navigation System (SINS). So it is widely used in the areas of aviation, position finding, guided missile and land guidance. Because of the various errors in laser gyro, the precision of developing is restricted. Thereinto, temperature is one of the most important elements that affect the output precision of bias. The main features are randomness and instability.To improve the accuracy and stabilization of SINS, we must modeling analysis thermal induced bias error.With the method enhance the precision of SINS.
First, backgrounds and developments of related areas at home and abroad are briefly presented. The measurement principle of laser gyro is derived and the three main error factors that affect the output accuracy of laser gyro are narrated. Several ideas of thermal induced bias and their compesation methods are analysed emphatically.
Second, according to characteristics of laser SINS's output error mechanism, proposed system-level temperature error modeling theory. Conducted an experimental design and proposed weighted multi-sensor fusion of data processing method.The experiment was carried out under static state, and the error model of SINS was derived to calibrate the four mode multi-oscillation gyro's bias and scaling factors using generalized inverse algorithm. Based on the past temperature error models and using Final Output Error criteria of Asymptotical Identification theory, the rank of nonlinear part of temperature error models is calculated, and the best structure of temperature error compensation model is determined. The paper applies Self-adapt Ridge Regression estimator to calculate the coefficients of the temperature error models to avoid overflowing of least square algorithm, and establishes a system-level temperature error compensation. The experiment results show that the method is applicable, and the acquisition precision of the system has been improved obviously.
Last, based on the hypothermia lauching experiment of dithered gyro, using recursive least square algorithm to calculate the coefficients of the temperature error models to avoid overflowing of LS algorithm. The experiment and simulation demonstrate that the recursive algorithm is correct and effective, with the advantage of less computation time, valid parameter estimation and small modeling errors. The algorithm is suitable for on-line modeling applications in the cases of large-scale measurement data and the requirements of high efficiency as well.
引文
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[6]Mohr.Thermo optically induced bias drift in fiber optical Sagnac interferometers.Journal of Light-wave Technology,1996,14(5):27-41
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[10]徐清雷,韩冰,邓正隆.激光捷联惯性组合的全温度标定方法.中国惯性技术学报,2004,12(6):4-7
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[20]马小霞,戴世荣,李汉舟,熊新明,马建辉.陀螺数字PID温度控制系统设计与实现. 中国惯性技术学报,2004,12(1):66-69
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[23]张广莹,邓正隆,傅正宪.陀螺仪温度建模研究.系统仿真学报,2003,15(3):369-378
[24]张鹏飞.二频机抖激光陀螺捷联惯导系统及其实时温度补偿方法的研究.长沙:国防科技大学博士学位论文,2006
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[28]聂琦,罗超,孙蓉.光纤陀螺零偏温度补偿的研究.应用科技,2005,32(10):36-37
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[30]高新闻,陈孝威.捷联惯性测量系统的误差补偿研究.贵州大学学报(自然科学版)2003,20(5):173-179
[31]陈怀,张嵘,周斌,陈志勇.微机械陀螺仪温度特性及补偿算法研究.传感器技术,2004,9(10):24-26
[32]Verhaegen,M.and Westwick.Identifying MIMO Hammerstein System in the context of Subspace Model Identification methods.Int.J.Control,1996,(63) 2:331-349
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[34][荷兰]朱豫才著,张湘平等译.过程控制的多变量系统辨识.长沙:国防科技大学出版社,2005
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[2]蔡金狮主编.飞行器系统辨识学.中国人民解放军总装备部军事训练教材.北京:国防工业出版社,2004
[3]张鹏飞,龙兴武.二频机抖激光陀螺温度漂移补偿的初步研究.激光杂志,2005,26(5):83-84
[4]吴国勇,顾启泰.四频激光陀螺热致零漂机理研究.中国惯性技术学报,2002,10(4):44-48
[5]Kobayashik.MITO I Single frequency and tunable laser diodes.IEEE J Lightwave Technology,1988,6(11):1623-1633
[6]Mohr.Thermo optically induced bias drift in fiber optical Sagnac interferometers.Journal of Light-wave Technology,1996,14(5):27-41
[7]高伯龙,李树棠.激光陀螺.长沙:国防科技大学出版社,1984
[8]张目.激光陀螺零偏误差补偿技术研究.重庆:重庆大学硕士学位论文,2006
[9]聂祖国.机抖激光陀螺捷联惯导系统误差补偿技术研究.长沙:国防科技大学硕士学位论文,2005
[10]徐清雷,韩冰,邓正隆.激光捷联惯性组合的全温度标定方法.中国惯性技术学报,2004,12(6):4-7
[11]熊洪允,曾绍标.应用数学基础.天津:天津大学出版社,2004
[12]马小霞.陀螺仪数字温度控制系统研究.北京:中国航天第二研究院硕士论文,2004
[13]王毅.激光陀螺温度误差建模与补偿研究.西安:西北工业大学硕士学位论文,2005
[14]Raytheon Company.Four mode multi-oscillation ring laser gyro research report,1978,(AFAL)TR:78-133
[15]Malthan H.Test of a Honeywell GG1342 ring laser gyro.Symposium on Gyro Technology.Duesseldorf,West Ger:Deutsche Gesellschaft fuer Ortung and Navigation,1982
[16]RuffinPB,Lofts CM,Hamilton J.Analysis of temperature and stress effects in fiber optic gyro-scopes.Optical Engineering,1994,33(8):2675-2679
[17]赵小宁,李县洛,雷宝权.激光陀螺零偏温度补偿研究.中国惯性技术学报,2004,12(3):55-57
[18]李国辉,戴世荣,杨孟兴.加速度计静态温度模型的辨识.导航与控制,2004,3(1):60-65
[19]孙谦,谢玲,陈家斌,刘星桥.精密温控对惯性导航平台系统性能的影响.北京理工大学学报,2002,6(3):379-382
[20]马小霞,戴世荣,李汉舟,熊新明,马建辉.陀螺数字PID温度控制系统设计与实现. 中国惯性技术学报,2004,12(1):66-69
[21]张鹏飞,龙兴武.机抖激光陀螺捷联系统中惯性器件的温度补偿的研究.宇航学报,2006,27(3):523-525
[22]刘大健,卫力,叶强.二元函数插值法校正传感器非线性及温度漂移.仪表技术,2001,22(5):50-51
[23]张广莹,邓正隆,傅正宪.陀螺仪温度建模研究.系统仿真学报,2003,15(3):369-378
[24]张鹏飞.二频机抖激光陀螺捷联惯导系统及其实时温度补偿方法的研究.长沙:国防科技大学博士学位论文,2006
[25]Conference Proceedings.Symposium Gyro Technology,1982
[26]Mark E.Pittelkau.Kalman Filtering for Spacecraft System Alignment Calibration.Journal of Guidance,Control and Dynamics,2001,24(6):1187-1195
[27]IEEE Standard.Specification Format Guide ande Test Procedure for Single-Axis Laser Gyros,1985,IEEE STD:647-1955
[28]聂琦,罗超,孙蓉.光纤陀螺零偏温度补偿的研究.应用科技,2005,32(10):36-37
[29]万键如,刘春江,陈占先.惯性导航平台罗经三级温控设计与应用.航海技术,2003,13(5):24-25
[30]高新闻,陈孝威.捷联惯性测量系统的误差补偿研究.贵州大学学报(自然科学版)2003,20(5):173-179
[31]陈怀,张嵘,周斌,陈志勇.微机械陀螺仪温度特性及补偿算法研究.传感器技术,2004,9(10):24-26
[32]Verhaegen,M.and Westwick.Identifying MIMO Hammerstein System in the context of Subspace Model Identification methods.Int.J.Control,1996,(63) 2:331-349
[33]Wahlberg,B.Model reduction of high-order estimated models:the asymptotic ML approach.Int.J.Control,1989,49(1):169-192
[34][荷兰]朱豫才著,张湘平等译.过程控制的多变量系统辨识.长沙:国防科技大学出版社,2005
[35]Vander Ouderaa,E.,J.Schoukens,J.Renneboog.Peak factor minimization using a time-frequency domain swapping algrithom.IEEE Trans.Instrum.and Means,1998,37(2):342-351
[36]Schroeder.M.Sythesis of low-peak factor signals and binary sequences with low autocorrection.IEEE Trans.Inform.Theory,1970,IT(16):85-89
[37]Tulleken,H.J.A.F.Generalized binary noise test-signal concept for improved identification-experiment design.Automatica,1990,26(1):37-49
[38]Ljung.L.System Identification:Theory for the User.Prentice-Hall,1999,Englewood Cliffs,N.J.
[39]Akaike,H.A new look at the statistical model identification.IEEE Trans.Autom.Control, 1974,AC(19):716-723
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