惯性平台自标定陀螺仪误差系数可观测度分析

针对惯性平台自标定陀螺仪误差系数的可观测度问题,从可观性定义角度出发,提出一种可观测度分析方法。利用状态量解析解表达式中观测量导数的最高阶数定义该状态量的可观测度。在此基础上,研究惯性平台自标定系统可观性与陀螺仪误差系数可观测度,分析系统可观测的状态量及其可观测度,得出陀螺仪本轴一次项误差系数可观测度最差的结论。仿真结果验证了该方法的正确性和有效性,为惯性平台自标定中施矩方案的设计提供了理论依据。

Observable degree analysis of gyroscope error coefficients for inertially stabilized platforms self-calibration

Aiming at the observable degree of gyroscope error coefficients for inertially stabilized platforms (ISP) self-calibration system, a novel observable degree analytical method was presented according to the definition of observability. The highest order of measurement derivative in the expression of a state analytical solve was defined as the state observable degree. Based on this, the observability of ISP self-calibration system was analyzed, highlighting the observable degrees of gyroscope error coefficients. The observable states of system were presented, and it was proofed that the observable degrees of the gyroscope biases to g sensitivity along the input axes were worst. Simulation results validated the correctness and validity of this approach, which provides a reference for the design of torqueing scheme of inertially stabilized platforms self-calibration system.