High-precision gyro north finder based on rotation-modulation technology

Xue Haijian; Guo Xiaosong; Zhou Zhaofa

Volume 44 Issue 4

May 2015

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Article Navigation > Infrared and Laser Engineering > 2015 > 44(4): 1323-1328

Xue Haijian, Guo Xiaosong, Zhou Zhaofa. High-precision gyro north finder based on rotation-modulation technology[J]. Infrared and Laser Engineering, 2015, 44(4): 1323-1328.

Citation:

Xue Haijian, Guo Xiaosong, Zhou Zhaofa. High-precision gyro north finder based on rotation-modulation technology[J]. Infrared and Laser Engineering, 2015, 44(4): 1323-1328.

High-precision gyro north finder based on rotation-modulation technology

1.
State Key Discipline Laboratory of Armament Launch Theory and Technology,The Second Artillery Engineering University,Xi'an 710025,China

Received Date: 2014-08-11
Rev Recd Date: 2014-09-03
Publish Date: 2015-04-25

Abstract

Dynamic test data fitting method was widely used in Gyro dynamic north algorithm at present. In this study, rapid dynamic north method based on cross-correlation function was presented to overcome the shortcomings of the weak denosing effect and large amount of data in dynamic test data fitting method and to deduce find north principle formula. This method firstly modulated the output signal of a ring laser gyro and accelerometer to create a certain frequency triangular amplitude modulation wave by continuous constant speed rotation. Then, calculated the cross-correlation function of two lines with the same frequency reference signal and the output signal of gyro and accelerometer separately, based on the nature of the cross-correlation function associated with the frequency, which to eliminate the accuracy effect of find north by inertial device drift and noise. The simulation results show that the new algorithm can realize all-attitude north finding in high precision and the error of azimuth angle and attitude angle is less than 0.01 after 30 s find north. The experiment on the north-finder results indicates that this algorithm can effectively restrain all kinds of noise in the measurement process of inertial devices, and the standard deviation is about 32.7 for 5 min, which can basically satisfy the requirement of high precision north-finding.
- north finder,
- rotating modulation,
- ring laser gyro,
- cross-correlation functions

References

[1]	Jiang Qingxian, Ma Xiaohui, Chen Xiaobi, et al. North determining scheme by two-position for a FOG north seeker[J]. Journal of Chinese Inertial Technology, 2006, 14(3): 1-5. (in Chinese) 蒋庆仙, 马小辉, 陈晓璧, 等. 光纤陀螺寻北仪的二位置寻北方案[J].中国惯性技术学报, 2006, 14(3): 1-5.
[2]
[3]	Yang J H, Zhang Q L, Yang H R, et al. The improvement of FOG north-seeker two-position north determining scheme[C]//IEEE international Conference on Information and Automation, 2010: 2248-2251.
[4]
[5]
[6]	Long Wenqiang, Qin Jirong. Design and realization of two-position digitized strapdown north seeker[J]. Fire Control and Command Control, 2007, 32(4): 97-111. (in Chinese) 龙文强, 秦继荣. 二位置数字捷联寻北仪的设计与实现[J]. 火力与指挥控制, 2007, 32(4): 97-111.
[7]	Shen Jun, Miao Lingjuan, Wu Junwei, et al. Application and compensation for startup phase of FOG based on RBF neural network[J]. Infrared and Laser Engineering, 2013, 42(1): 119-124. (in Chinese) 沈军, 缪玲娟, 吴军伟, 等. 基于RBF神经网络的光纤陀螺启动补偿及应用[J]. 红外与激光工程, 2013, 42(1): 119-124.
[8]
[9]	Liu Yubo, Gao Limin, Zhao Tianyu. The generally error analysis of FOG north-seeker[J]. Infrared and Laser Engineering, 2007, 36(S): 570- 573. (in Chinese) 刘宇波, 高立民, 赵天宇. 光纤陀螺寻北仪误差系统分析[J]. 红外与激光工程, 2007, 36(S): 570-573.
[10]
[11]
[12]	Li Ming, Wang Zhiqian, Huang Bo. Design and realization of multi- position strap-down north-seeking instrument based on dynamically tuned gyro[J]. Instrument Technique and Sensor, 2010(5): 19-21. (in Chinese) 李敏, 王志乾, 黄波. 基于动调陀螺的多位置捷联寻北仪研制[J]. 仪表技术与传感器, 2010(5): 19-21.
[13]
[14]	Shen Chengwu, Wang Zhiqian, Liu Chang, et al. Application of BP neural network to multi-position strap-down north seeking system[J]. Optics Precision Engineering, 2009, 17(8): 1890-1895. (in Chinese) 沈铖武, 王志乾, 刘畅, 等. BP神经网络在多位置捷联寻北系统中的应用[J]. 光学精密工程, 2009, 17(8): 1890-1895.
[15]
[16]	Xu Haigang, Guo Zongben. Design of a practical rotation modulated gyro north-finder[J]. Acta Armamentarii, 2010, 31(5): 616-619. (in Chinese) 徐海刚, 郭宗本. 一种实用旋转调制式陀螺寻北仪的设计[J]. 兵工学报, 2010, 31 (5): 616-619.
[17]	Zou Xiangyang, Sun Qian, Chen Jiabin, et al. A north-finder algorithm and its signal processing of continuous rotary north-finder[J]. Transactions of Beijing Institute of Technology, 2004, 24(9): 804- 807. (in Chinese) 邹向阳, 孙谦, 陈家斌, 等. 连续旋转式寻北仪的寻北算法及信号处理[J].北京理工大学学报, 2004, 24(9): 804-807.
[18]
[19]
[20]	Bai Yunchao, Li Xueqin, Ma Xiaohui, et al. High-precision north determining scheme based on rotation-modulation technology[J]. Journal of Chinese Inertial Technology, 2010, 18(4): 421-424. (in Chinese) 白云超, 李学琴, 马小辉, 等. 采用旋转调制技术的高精度陀螺寻北方案[J]. 中国惯性技术学报, 2010, 18(4): 421-424.
[21]	Zhang Yan, Wu Wenqi, Wu Meiping. Online estimation for scale factor of north-finder based on rate biased ring laser gyroscope[J]. Optics Precision Engineering, 2011, 19(1): 146-152. (in Chinese) 张岩, 吴文启, 吴美平. 速率偏频激光陀螺寻北仪标度因数的在线估计[J]. 光学精密工程, 2011, 19(1): 146-152.
[22]
[23]
[24]	Li Xudong, Meng Fanwei, Lin Yurong. All-attitude accelerometer north finder based on arithmetic of correlation filtering algorithm[J]. Journal of Chinese Inertial Technology, 2008, 16(1): 44-48. (in Chinese) 李旭东, 孟范伟, 林玉荣. 基于相关滤波算法的全姿态加速度计寻北方案[J]. 中国惯性技术学报, 2008, 16(1): 44-48.
[25]	Liu Dongbo, Liu Jianye, Lai Jizhou. Study of single-cycle fast dynamic north-seeking algorithm based on fiber-optic gyroscope[J]. Transducer and Microsystem Technologies, 2007, 26(11): 61-64. (in Chinese)

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通讯作者: 陈斌, bchen63@163.com

1.
沈阳化工大学材料科学与工程学院沈阳 110142

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High-precision gyro north finder based on rotation-modulation technology

1. State Key Discipline Laboratory of Armament Launch Theory and Technology,The Second Artillery Engineering University,Xi'an 710025,China

Received Date: 2014-08-11

Rev Recd Date: 2014-09-03

Publish Date: 2015-04-25

Key words:

Abstract: Dynamic test data fitting method was widely used in Gyro dynamic north algorithm at present. In this study, rapid dynamic north method based on cross-correlation function was presented to overcome the shortcomings of the weak denosing effect and large amount of data in dynamic test data fitting method and to deduce find north principle formula. This method firstly modulated the output signal of a ring laser gyro and accelerometer to create a certain frequency triangular amplitude modulation wave by continuous constant speed rotation. Then, calculated the cross-correlation function of two lines with the same frequency reference signal and the output signal of gyro and accelerometer separately, based on the nature of the cross-correlation function associated with the frequency, which to eliminate the accuracy effect of find north by inertial device drift and noise. The simulation results show that the new algorithm can realize all-attitude north finding in high precision and the error of azimuth angle and attitude angle is less than 0.01 after 30 s find north. The experiment on the north-finder results indicates that this algorithm can effectively restrain all kinds of noise in the measurement process of inertial devices, and the standard deviation is about 32.7 for 5 min, which can basically satisfy the requirement of high precision north-finding.

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Reference (25)

[1]	Jiang Qingxian, Ma Xiaohui, Chen Xiaobi, et al. North determining scheme by two-position for a FOG north seeker[J]. Journal of Chinese Inertial Technology, 2006, 14(3): 1-5. (in Chinese) 蒋庆仙, 马小辉, 陈晓璧, 等. 光纤陀螺寻北仪的二位置寻北方案[J].中国惯性技术学报, 2006, 14(3): 1-5.
[2]
[3]	Yang J H, Zhang Q L, Yang H R, et al. The improvement of FOG north-seeker two-position north determining scheme[C]//IEEE international Conference on Information and Automation, 2010: 2248-2251.
[4]
[5]
[6]	Long Wenqiang, Qin Jirong. Design and realization of two-position digitized strapdown north seeker[J]. Fire Control and Command Control, 2007, 32(4): 97-111. (in Chinese) 龙文强, 秦继荣. 二位置数字捷联寻北仪的设计与实现[J]. 火力与指挥控制, 2007, 32(4): 97-111.
[7]	Shen Jun, Miao Lingjuan, Wu Junwei, et al. Application and compensation for startup phase of FOG based on RBF neural network[J]. Infrared and Laser Engineering, 2013, 42(1): 119-124. (in Chinese) 沈军, 缪玲娟, 吴军伟, 等. 基于RBF神经网络的光纤陀螺启动补偿及应用[J]. 红外与激光工程, 2013, 42(1): 119-124.
[8]
[9]	Liu Yubo, Gao Limin, Zhao Tianyu. The generally error analysis of FOG north-seeker[J]. Infrared and Laser Engineering, 2007, 36(S): 570- 573. (in Chinese) 刘宇波, 高立民, 赵天宇. 光纤陀螺寻北仪误差系统分析[J]. 红外与激光工程, 2007, 36(S): 570-573.
[10]
[11]
[12]	Li Ming, Wang Zhiqian, Huang Bo. Design and realization of multi- position strap-down north-seeking instrument based on dynamically tuned gyro[J]. Instrument Technique and Sensor, 2010(5): 19-21. (in Chinese) 李敏, 王志乾, 黄波. 基于动调陀螺的多位置捷联寻北仪研制[J]. 仪表技术与传感器, 2010(5): 19-21.
[13]
[14]	Shen Chengwu, Wang Zhiqian, Liu Chang, et al. Application of BP neural network to multi-position strap-down north seeking system[J]. Optics Precision Engineering, 2009, 17(8): 1890-1895. (in Chinese) 沈铖武, 王志乾, 刘畅, 等. BP神经网络在多位置捷联寻北系统中的应用[J]. 光学精密工程, 2009, 17(8): 1890-1895.
[15]
[16]	Xu Haigang, Guo Zongben. Design of a practical rotation modulated gyro north-finder[J]. Acta Armamentarii, 2010, 31(5): 616-619. (in Chinese) 徐海刚, 郭宗本. 一种实用旋转调制式陀螺寻北仪的设计[J]. 兵工学报, 2010, 31 (5): 616-619.
[17]	Zou Xiangyang, Sun Qian, Chen Jiabin, et al. A north-finder algorithm and its signal processing of continuous rotary north-finder[J]. Transactions of Beijing Institute of Technology, 2004, 24(9): 804- 807. (in Chinese) 邹向阳, 孙谦, 陈家斌, 等. 连续旋转式寻北仪的寻北算法及信号处理[J].北京理工大学学报, 2004, 24(9): 804-807.
[18]
[19]
[20]	Bai Yunchao, Li Xueqin, Ma Xiaohui, et al. High-precision north determining scheme based on rotation-modulation technology[J]. Journal of Chinese Inertial Technology, 2010, 18(4): 421-424. (in Chinese) 白云超, 李学琴, 马小辉, 等. 采用旋转调制技术的高精度陀螺寻北方案[J]. 中国惯性技术学报, 2010, 18(4): 421-424.
[21]	Zhang Yan, Wu Wenqi, Wu Meiping. Online estimation for scale factor of north-finder based on rate biased ring laser gyroscope[J]. Optics Precision Engineering, 2011, 19(1): 146-152. (in Chinese) 张岩, 吴文启, 吴美平. 速率偏频激光陀螺寻北仪标度因数的在线估计[J]. 光学精密工程, 2011, 19(1): 146-152.
[22]
[23]
[24]	Li Xudong, Meng Fanwei, Lin Yurong. All-attitude accelerometer north finder based on arithmetic of correlation filtering algorithm[J]. Journal of Chinese Inertial Technology, 2008, 16(1): 44-48. (in Chinese) 李旭东, 孟范伟, 林玉荣. 基于相关滤波算法的全姿态加速度计寻北方案[J]. 中国惯性技术学报, 2008, 16(1): 44-48.
[25]	Liu Dongbo, Liu Jianye, Lai Jizhou. Study of single-cycle fast dynamic north-seeking algorithm based on fiber-optic gyroscope[J]. Transducer and Microsystem Technologies, 2007, 26(11): 61-64. (in Chinese)

High-precision gyro north finder based on rotation-modulation technology

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