Transactions of Nanjing University of Aeronautics & Astronautics
Dynamic Coning Error Modeling Analysis of Laser Strapdown Inertial Navigation System
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Abstract:
This paper proposes a modeling and compensation method for the dynamic coning error parameters of the mechanical dithered laser gyroscope. Firstly， the causes of the dynamic coning error are analyzed in principle， and the deformation of the sensing axis of the laser gyroscope under different external angular acceleration inputs is provided. A compensation model of the dynamic coning error is later established， and the influence of the dynamic coning error is represented by the dynamic coning error coefficient， which is only related to the laser gyro. Then we propose a system level calibration scheme of the dynamic coning error coefficients considering the relationship between the attitude error of the system before and after the coning motion. The existence of the dynamic coning error， as well as the dynamic coning error compensation effect is proved via the coning motion experiment of laser gyroscope and fiber optic gyroscope. Finally， it is verified through the system level vibration test that the dynamic coning error compensation method can effectively reduce the attitude and speed errors of the system in the vibration environment， consequently improving the navigation accuracy of the inertial navigation system in the complex mechanical environment.
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Clc Number:
TN925
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