Study on the method of compensation for the heading effect of the rate offset frequency laser inertial measurement unit

Xu Binghua; Zhu Zhanxia; Yuan Yichao; Jiang Yifu; Yuan Jianping

摘要

For the rate offset frequency laser inertial measurement unit (IMU), the errors of its three attitude angles, laser gyroscope, and accelerometer are coupled, which will affect the initial alignment result of the IMU and will make the measurement results of the IMU at different positions and angles deviate from the truth value. Meanwhile, with the increase of tilt angle, the heading effect becomes more obvious, and the error value is distributed positively cosine with the heading angle. In order to ensure the adaptability of the IMU to various operating conditions, it is necessary to compensate for the heading effect. The contribution of each error source of IMU to the heading effect is theoretically studied in this paper. We present a new method for compensating for the heading effect of the rate offset frequency laser IMU, in which the normal drift error of the vertical direction laser gyroscope and the zero bias error of the accelerometer under the turntable coordinate system are compensated. Based on the above method, simulation analysis and test verification are carried out. The experimental results show that the compensation method has a remarkable effect. In the case of two horizontal attitude angles tilted 0.0873 rad and 5 min initial alignment, the error of the rate offset frequency laser IMU reduced from 5.02E-04 rad (3 sigma) to 1.45E-04 rad (3 sigma), and the accuracy increased by 71%. High-precision initial alignment is achieved, which can meet the requirements of high-precision engineering applications. (C) 2019 Optical Society of America

机译：对于速率偏移频率激光惯性测量单元（IMU），其三个姿态角度，激光陀螺仪和加速度计的误差耦合，这将影响IMU的初始对准结果，并将在不同的情况下进行IMU的测量结果位置和角度偏离真相值。同时，随着倾斜角的增加，出头效果变得更加明显，并且误差值与标题角度分布正余弦。为了确保IMU对各种操作条件的适应性，有必要补偿标题效果。本文理论上研究了IMU对标题效果的每个误差源的贡献。我们提出了一种补偿速率偏移频率激光IMU的标题效应的新方法，其中补偿了转盘坐标系下的垂直方向激光陀螺仪的正常漂移误差和加速度计的零偏置误差。基于上述方法，执行仿真分析和测试验证。实验结果表明，补偿方法具有显着作用。在两个水平姿态角度倾斜0.0873rad和5分钟的初始对准的情况下，速率偏移频率激光器IMU的误差从5.02e-04 rad（3 sigma）减少到1.45e-04rad（3 sigma），以及准确性提高了71％。实现高精度初始对齐，可以满足高精度工程应用的要求。（c）2019年光学学会

Study on the method of compensation for the heading effect of the rate offset frequency laser inertial measurement unit

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