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弹箭与制导学报 >

2015 , Vol. 35 >Issue 5: 5 - 8,12

DOI: https://doi.org/10.15892/j.cnki.djzdxb.2015.05.002

导弹与制导技术

陀螺时间不同步误差对姿态解算的影响分析

  • 翁浚 ,
  • 秦永元 ,
  • 张强 ,
  • 刘镇波
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  • 西北工业大学自动化学院,西安 710129

翁浚(1988-),男,浙江新昌人,博士研究生,研究方向:惯性导航与组合导航。

收稿日期: 2014-10-29

  网络出版日期: 2025-05-28

基金资助

国家自然科学基金(61273333)

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Analysis of Non-synchronous Error of Gyros' Effect on Attitude Update

  • WENG Jun ,
  • QIN Yongyuan ,
  • ZHANG Qiang ,
  • LIU Zhenbo
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  • School of Automaticon, Northwestern Polytechnical University, Xi'an 710129, China

Received date: 2014-10-29

  Online published: 2025-05-28

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摘要

由于采样电路延迟、陀螺频率特性等原因,使得惯性测量组件中三轴陀螺输出呈现不同步的现象。文中从姿态解算方程出发,分析推导了当载体两个轴向存在不同输入相角的正弦晃动时,时间不同步误差对姿态解算影响大小,指出当输入相角分别为正交和同相时,影响达到最小和最大。分析了0~100Hz振动环境下,陀螺时间不同步误差的影响特性,并对惯性测量组件的设计环节提出了相应改进意见。

关键词： 姿态解算; 不同步; 圆锥运动; 频率特性

本文引用格式

翁浚 , 秦永元 , 张强 , 刘镇波 . 陀螺时间不同步误差对姿态解算的影响分析[J]. 弹箭与制导学报, 2015 , 35(5) : 5 -8,12 . DOI: 10.15892/j.cnki.djzdxb.2015.05.002

Abstract

Because of time-delay of sampling circuit and frequency response of gyros, output of three gyros in inertial measurement unit is asynchronous. On the basis of attitude computation equations, the effect of gyros' asynchronization on attitude calculation was analyzed and deduced firstly when phase angles of sine swaying along the vehicle's two axes were different. It is indicated that when phase angles are orthotropic and same, the effect reaches minimum and maximum respectively. The impact characteristics of gyros' asynchronous behavior was analyzed under vibration environment through 0~100 Hz, and the paper offers some proposals related to the design of inertial measurement unit.

Key words： attitude computation; asynchronization; coning motion; frequency response

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