CAJ | 학술논문

激光陀螺在船体角形变自主测量中具有重要应用。根据激光陀螺自主测量船体角形变的角速度匹配测量方程，推导了静态形变和动态形变的误差方程并分析了激光陀螺的随机零偏误差对两者的影响，提出了随机零偏误差模型的改进方法。该方法构建了惯性姿态匹配测量的最优滤波器，将随机零偏误差建模为微弱白噪声驱动的随机游走模型和零均值的白噪声模型，并实时地将随机零偏误差差值的估计量反馈到激光陀螺输出的角增量中进行补偿。仿真结果表明激光陀螺的随机零偏误差模型经过改进后，角形变的估计误差优于10角秒，陀螺随机零偏差值的估计趋于平稳。
격광타라재선체각형변자주측량중구유중요응용。근거격광타라자주측량선체각형변적각속도필배측량방정，추도료정태형변화동태형변적오차방정병분석료격광타라적수궤령편오차대량자적영향，제출료수궤령편오차모형적개진방법。해방법구건료관성자태필배측량적최우려파기，장수궤령편오차건모위미약백조성구동적수궤유주모형화령균치적백조성모형，병실시지장수궤령편오차차치적고계량반궤도격광타라수출적각증량중진행보상。방진결과표명격광타라적수궤령편오차모형경과개진후，각형변적고계오차우우10각초，타라수궤령편차치적고계추우평은。
Laser gyroscope plays an important role while applying in autonomous measurement for ship hull angular deformation. According to angular rate matching equation for angular deformation measurement, an error equation of static deformation and dynamic deformation is derived, and the influence of random bias error of laser gyroscopes on the error equation is analyzed. A method of better random bias error model is proposed. An optimal filter for inertial attitude matching measurement is established, and random bias error is modeled into random walk model with weak white noise driven and white noise model with zero mean value. Estimation of random bias error difference fed back to compensate angular increment of laser gyroscopes is analyzed. The simulation results showed that after model refinement of random bias error of laser gyroscopes, the estimation error is better than 10 arc-second, and curve of random bias error estimation is stable.