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摘要
In order to accurately calibrate the gyroscope's drift coefficients, the coordinate systems are established on precision centrifuge with counter-rotating platform, and the corresponding error sources of each coordinate system are analyzed. The precise input angular rate along each axis of gyroscope are derived by homogeneous transformation method and also the nominal input specific forces are given. The precise expression of each drift coefficient is provided combining with gyroscope's error model, input specific forces and angular rates of gyroscope at the 16-position. And the compensation for the identification results can be conducted by the expression. It can be shown that through simulation two coefficients are significantly influenced by centrifuge errors when using the 16-position calibration method, and centrifuge errors have no impacts on other coefficients, which proves that the method can effectively eliminate the impacts of centrifuge errors. Only several centrifuge errors should be considered in actual calibration such as the perpendicularity between the counter rotating platform's revolving axis and the working base, the wobbles of counter rotating platform, and the difference between the angular rate of counter rotating platform and the one of the main axis.
- 出版日期2017-9
- 单位天津科技大学
