基于PSO算法的半球谐振陀螺惯导系统陀螺温度补偿方法

Gyro temperature compensation method for hemispherical resonator gyro inertial navigation system based on PSO algorithm

关键词:  半球谐振陀螺  温度补偿  谐振频率  粒子群优化算法

Key words:  Hemispherical resonator gyro  Temperature compensation  Natural frequency  Particle swarm optimization algorithm

摘要:

针对半球谐振陀螺受温度影响出现零位漂移的问题，以测温电路温度为基准，建立温度频率函数实时解算温度，提出一种基于粒子群优化(PSO)算法的半球谐振陀螺惯导系统陀螺温度补偿方法。在求解温度时，需要先将温度频率函数转换为一元三次方程，存在测试计算量大的问题。引入逆向拟合思想，建立频率温度函数，提高陀螺输出温度实时性和降低测试计算量，替代了传统陀螺测温硬件电路，为惯导系统轻小型设计提供新思路。考虑温度变化、温度变化率以及两者的交叉项，建立温度补偿模型，引入PSO算法求解模型系数。温度试验结果表明，在温箱温度为-40~50 ℃内，补偿后的半球谐振陀螺的零偏稳定性较补偿前提升了46％。

Abstract:

Aiming at the problem that the bias of hemispherical resonator gyro (HRG) is affected by temperature, the temperature frequency function is established to solve the temperature in real time, which takes the temperature of temperature measurement circuit as the reference. A gyro temperature compensation method for HRG inertial navigation system based on particle swarm optimization (PSO) algorithm is proposed. When the temperature is solved, the function needs to be converted into a unary cubic equation first, which has the problem that the test computer has a large amount of calculation. The reverse fitting idea is introduced to establish a frequency temperature function, which can improve the real-time performance of temperature in gyros output and reduce the computational complexity of the test computer. At the same time, this method replaces the traditional temperature measurement hardware circuit in the gyros, which provides a new idea for the lightweight design of inertial navigation system. Considering the temperature change, the temperature change rate and their cross terms, a temperature compensation model is established, and PSO algorithm is introduced to solve the model coefficients. The thermal experiment results show that in the temperature range of -40~50 ℃ in temperature chamber, the bias stability of compensated HRG has been improved by 46％ compared to the value before compensation.