摘要
为了准确标定陀螺加速度计的二阶非线性误差系数K2与三阶非线性误差系数K3,首先在带反转平台的离心机上建立坐标系,进而在考虑离心机误差源的基础上,推导出了陀螺加速度计上的精确比力输入和角速度输入,再根据陀螺加速度计的误差模型,给出了离心机各个误差源对K2、K3项标定误差的贡献.仿真试验给出了各误差项对于K2、K3项标定的具体影响大小,可通过误差补偿提高陀螺加速度计K2、K3项的标定精度,并且给出了不同精度加速度计在进行标定时要重点考虑的离心机误差项;同时仿真表明,采用带反转平台的离心机对陀螺加速度计进行标定时可以不进行加速度计调心;另外,主轴速率与反转平台回转轴角速度矢量大小不完全相等,方向不完全相反对标定结果几乎无影响.
In order to accurately calibrate second-order nonlinear error model coefficient K2 and third- order coefficient K3 of gyro accelerometer, firstly the coordinate systems were established on the cen- trifuge with a counter-rotating platform, and with error sources of centrifuge considered, accurate spe- cific force input and angular velocity input of gyro accelerometer were derived. Then the contribution of each error of centrifuge to the calibration errors of K2, K3 were given according to the error model of gyro accelerometer. Through simulation, the practical impact of each error on the calibration accuracy of K2, K3 is shown quantitatively, and the calibration accuracy of error model coefficients K2, K3 of gy- ro aceelerometer can be improved by error compensation. Meanwhile, the centrifuge errors which should be focused on when calibrating accelerometers with different accuracies are given. The simula- tion results also show that it is unnecessary to adjust the center of gyro accelerometer when centrifuge with the counter-rotating platform is used for its calibration. In addition, it has little effect on calibra- tion when the magnitudes of the spindle speed and the angular velocity vector of reversal platform ro- tary axis are not exactly equal, and their directions are not completely opposite.
出处
《纳米技术与精密工程》
CAS
CSCD
2013年第2期140-145,共6页
Nanotechnology and Precision Engineering
关键词
盘式离心机
反转平台
陀螺加速度计
精密离心机
disc centrifuge
counter-rotating platform
gyro accelerometer
precision centrifuge
