Calibration Methodology for a Thermal Model of a 3-Axis Measurement Unit Based on Gyroscopes
https://doi.org/10.17285/0869-7035.0016
Abstract
The paper considers the methodological aspects of calibration of a 3-axis gyroscope unit on a two-axis calibration turntable with a thermal chamber. For the instrumental errors of angular rate sensor (ARS) measurements, an a priori parametric model is introduced, which includes bias, scale factor errors, small angles of sensitive axes nonorthogonality, as well as the coefficients of temperature variations for all the above measurement errors. The problem of parameters identification for the parametric model consists in the optimal estimation of the state vector of linear dynamic system, based on the vector of measurements linearly linked with the state vector. In such a statement, the vector of measurements is the vector of small turn between the simulated (calculated by the ARS readings) attitude of the unit and the simulated (calculated by the turntable measurements) attitude of the base plate. The proposed approach to the calibration problem formal characterization is a modification of the method of inertial measurement unit calibration, previously developed at the Lomonosov Moscow State University’s Laboratory of Control and Navigation. The method allows for assembled units calibration on low-grade one-axis turntables with horizontal axis of rotation. The calibration experiment is a sequence of horizontal rotations about each of the sensitive axes of ARS. The paper presents the results of numerical modeling and covariance analysis.
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Review
For citations:
Tarygin I.E. Calibration Methodology for a Thermal Model of a 3-Axis Measurement Unit Based on Gyroscopes. Giroskopiya i Navigatsiya. 2019;27(4):88-102. (In Russ.) https://doi.org/10.17285/0869-7035.0016
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