Research On Error Analysis And Compensation For Strapdown System Based On FOG

This paper is based on Fiber Optic Gyroscope(FOG) and Strapdown Inertial Navigation System(SINS) which are developed by ourselves.The study mainly deals with SINS system erro caused by the drift of FOG, SINS calibration, mensuration and Kalman filtering,digital filtering, wavelet filtering technologies of the random error.According to the SINS erro transmission function, system erro caused by the drift of FOG is anylised. It is proved that system erro caused by the drift of FOG is emanative.In a given period of navigation time, system erro increases as the drift of FOG grows.When the drift of FOG is a fixed value, system erro is fluctuated.Calibration technology mainly makes sure SINS Inertial Measurement Unit-quartz flexibility aceelerometer and FOG basic error model parameter. Establish 5-parameter and 4-parameter static error models respectively of aceelerometer and FOG. .Then based on three-axis inertial testing table, rate test, 24 position test and bias correction test are designed to gain the model parameters.For FOG random error, the principle of Allan variance method in IEEE std. is analysed, and five random erro parameters are caculated based on the actual project of FOG.The common filtering methods for FOG random error are analysed, which are Kalman filtering, digital filtering and wavelet filtering. Based on these three filtering technologies, FOG output data in static state are filtered respectively.At last, comparations are made among the three filtering technologies.