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针对弹载陀螺在发射过程中产生较大过载导致陀螺零点和灵敏度发生变化的问题,提出了一种利用地磁测量信息对陀螺进行在线标定的方法。该方法是利用最小二乘法对地磁场提供的滚转角信息与陀螺的数据进行拟合得到陀螺的标定参数:零点误差和灵敏度误差。通过仿真实验表明,采样点数为10时标定的效果最好。接着研究了速率对陀螺标定精度的影响。在外场实验中在线标定方法角速率误差为7.86°/s,相比速率标定方法,该角速率误差减小到原来的1/10。仿真实验和外场实验都表明在线标定方法所得到的角速率精度有明显提高。
Aiming at the problem that the gyroscope zero point and sensitivity change when the loaded gyro is overloaded during launch, a method of on-line calibration of the gyroscope using geomagnetic survey information is proposed. The method uses the least squares method to fit the gyro data and the roll angle information provided by the geomagnetic field to obtain the calibration parameters of gyro: zero point error and sensitivity error. The simulation results show that the calibration results are best when the sampling points are 10. Then study the rate of gyroscope calibration accuracy. In the field experiment, the angular error of on-line calibration method is 7.86 ° / s. Compared with the rate calibration method, the error of angular velocity is reduced to 1/10 of the original one. Both simulation experiments and field experiments show that the angular rate accuracy obtained by the online calibration method is obviously improved.