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基于光纤陀螺和旋转调制技术的优点,提出一种单陀螺寻北仪。采用1个单轴光纤陀螺、2个石英加速度计和旋转机构组成系统,寻北同时还可得到具有一定精度的纬度信息。给出了寻北原理公式,基于递推最小二乘法开发了实用的算法,以消除陀螺漂移和噪声的对寻北精度的影响。通过误差分析对寻北精度进行理论估计,指出影响寻北精度的重要因素是陀螺漂移的不稳定性并使用光纤陀螺测试数据进行半物理仿真。仿真结果表明,3 min内方位角估计值进入0.1°误差带,重复性精度可达4′。
Based on the advantages of FOG and rotation modulation technology, a single-gyro north-finder is proposed. Using a single-axis fiber optic gyroscope, two quartz accelerometers and a rotating mechanism make up a system that looks north while still obtaining latitude information with a certain degree of accuracy. The north seeking principle formula is given and a practical algorithm based on recursive least squares method is developed to eliminate the influence of gyro drift and noise on north seeking accuracy. Through error analysis, the accuracy of north seeking is estimated theoretically. It is pointed out that the important factor affecting the north seeking accuracy is the instability of gyro drifting and the semi-physical simulation using fiber optic gyroscope test data. The simulation results show that the azimuth estimation within 3 min reaches 0.1 ° error band, and the repeatability accuracy reaches 4 ’.