Research On Laser Gyro Strapdown Attitude&Heading Road-spectrum Measurement System

Based on self-propelled weapon dynamical test simulation equipment for military scientific research, Strapdown Attitude&Heading Road-spectrum Measurement System (SAHRMS) has been theoretically and experimentally studied in this dissertation, which has been developed and brought into practical use. This dissertation has done the following work:1. Theory for SAHRMS has been systematically studied, and the mathematical model and error model for the system has been deduced.2. The SAHRMS, which includes mechanical designing, choosing and testing laser gyros, designing and simulating the mounting base, processing circuit for laser gyro signals, has been developed for military use.3. Conical motion in SAHRMS has been studied in detail and the drift of attitude algorithm has been simulated and calculated using the classical conical motion. Then the two frequencies conical error formulas of dither laser gyros system have been deduced. These provide reference for evaluation of dither conical error in dither laser gyros system.4. Error propagating characters for SAHRMS has been analyzed using system error model. Analytical expressions for attitude surveying error caused by different error sources has been deduced and simulated numerically. Dynamic error equations and Simulink model has been developed for the typical application of road spectrum measurement.5. The three-axis rotating platform calibration formulas of scale factor error and mounting error of laser gyro in SAHMS have been deduced. Experiments showed that the scale factor error of laser gyro was less than 1.5ppm and mounting error less than 2.2" .6. Initial alignment methods for SAHRMS based on dither laser gyros in static base condition have been studied. Then the optimal two-position alignment and drift measuring method, which is commonly used in land-based vehicles system, has been studied theoretically and experimentally. Experiments showed that the roll and pitch attitude alignment error was less than 12" , the yaw attitude alignment error was less than 1.2', and the drifts of the three gyros were less than 0.023°/hr.7. Performance of the system developed in this dissertation has been tested comprehensively, including static performance, performance of temperature, accuracy, and angular rate, dynamic performance of land-based system and general performance for practical application. Experiments showed the reasonableness of the system and the validity of the theoretical model. The attitude measuring accuracy in 10 minutes achieved 22" .