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Т. Синюань, В.П. Подчезерцев
14
Инженерный журнал: наука и инновации
# 10·2017
Algorithms of dynamically tuned gyroscope certification
under conditions of real-world orientation relative to the
geographic coordinate system
© Tang Xingyuan, V.P. Podchezertsev
Bauman Moscow State Technical University, Moscow, 105005, Russian Federation
The article proposes the algorithm for calibrating the parameters of dynamically tuned
gyroscopes by sequentially orienting the gyroscope with respect to the geographic coor-
dinate system by means of a turntable, the accuracy of manufacturing elements of which
is not exaggerated. Accuracy of calibration is provided by the algorithm of data pro-
cessing, obtained from a gyroscope taking into account its actual orientation relative to
the geographic coordinate system. A prerequisite for ensuring high calibration accuracy
is the requirement to ensure accurate repeatability of gyroscope positions during testing.
A corresponding mathematical model of the intrinsic precession rate of dynamically tun-
able gyroscopes is developed in the angular velocity sensor mode, taking into account the
real orientation of the turntable platform relative to the reference coordinate system as-
sociated with the stand base. Parameters related to the real platform orientation in the
model are standardized and certified by the turntable manufacturer, which ensures high
accuracy of inertial-class sensor calibration on conditions of a sufficiently low cost of
testing. Analytic and iterative algorithms for solving the problem of gyroscope calibra-
tion are proposed, and corresponding numerical simulation is carried out using these
algorithms.
Keywords:
actual orientation matrix, dynamically tuned gyroscope (DTG), calibration,
drift model, turntable, analytic and iterative method
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