Hybrid Theoretical Variance Analysis for Random Error Properties of Optic Gyroscope

doi:10.3969/j.issn.1000-1093.2015.09.013

Abstract

Abstract: For the sake of testing and analyzing the random error properties and identifying the noise amplitude of optic gyroscope more effectively, a new hybrid theoretical variance(TheoH) strategy is proposed to analyze the gyroscope output, which is integrated with the Allan variance and theoretical variance #1 with auto-bias removal. The problems of that the averaging time calculated with Allan variance is half of total data length and the confidence decreases at long-term averaging time are perfectly solved. A new method for analyzing the random error properties of optic gyroscope is proposed. The proposed method is compared with the Allan and theoretical variance#1, and the noise types and noise levels of white noises and real gyroscope output are identified. The experimental results show that the TheoH can improve the confidence efficiently and has higher evaluation precision than the conventional Allan method in long-term τ-values.

Key words: ordnance science and technology, inertial navigation system, optic gyroscope, theoretical variance#1, random noise

CLC Number:

V249.32⁺5

TANG Xia-qing, CHENG Xu-wei, GAO Jun-qiang. Hybrid Theoretical Variance Analysis for Random Error Properties of Optic Gyroscope[J]. Acta Armamentarii, 2015, 36(9): 1688-1695.

References

［1］吴有龙, 王晓鸣, 曹鹏. 抗差估计及Allan方差在车载组合导航系统中的应用研究［J］. 兵工学报, 2013, 34(7): 889-895.
WU You-long, WANG Xiao-ming, CAO Peng. The application of robust estimation and Allan variance method in land vehicle navigation［J］. Acta Armamentarii, 2013, 34(7): 889-895. (in Chinese)
［2］汤霞清, 程旭维, 郭理彬, 等. 小波分析和灰色神经网络融合的光纤陀螺误差建模与补偿［J］. 中国激光, 2012, 39(10): 1008003.
TANG Xia-qing, CHENG Xu-wei, GUO Li-bin, et al. Error mo-deling and compensating of fiber optic gyro based on wavelet analysis and grey neural network［J］. Chinese Journal of Laser, 2012, 39(10): 1008003. (in Chinese)
［3］吕品, 刘建业, 赖际舟, 等. 光纤陀螺的随机误差性能评价方法研究［J］. 仪器仪表学报, 2014, 35(2): 412-418.
LYU Pin, LIU Jian-ye , LAI Ji-zhou, et al. Research on the performance evaluation methods of fiber optical gyro stochastic errors［J］. Chinese Journal of Scientific Instrument, 2014, 35(2): 412- 418. (in Chinese)
［4］ IEEE STD. IEEE standard specification format guide and test procedure for single-axis interferometric fiber optic gyros［S］. New York: The Institute of Electrical and Electronics Engineers, 1998.
［5］王新龙, 杜宇, 丁杨斌. 光纤陀螺随机误差模型分析［J］. 北京航空航天大学学报, 2006, 32(7): 769-772.
WANG Xin-long, DU Yu, DING Yang-bin. Investigation of random error model for fiber optic gyroscope［J］. Journal of Beijing University of Aeronautics and Astronautics, 2006, 32(7): 769-772. (in Chinese)
［6］高玉凯, 邓正隆. 基于小波方差的光学陀螺随机误差特性研究［J］. 中国惯性技术学报, 2004, 12(5): 65-70.
GAO Yu-kai, DENG Zheng-long. Investigation on random error properties of optic gyro based on wavelet variance［J］. Journal of Chinese Inertial Technology, 2004, 12(5): 65-70. (in Chinese)
［7］韩军良, 葛升民, 沈毅. 基于总方差方法的光纤陀螺随机误差特性研究［J］. 哈尔滨工业大学学报, 2007, 39(5): 708-711.
HAN Jun-liang, GE Sheng-min, SHEN Yi. Research on the random error properties of FOG based on total variance［J］. Journal of Harbin Institute of Technology, 2007, 39(5): 708-711. (in Chinese)
［8］ Howe D A. The total deviation approach to long-term characterization of frequency stability［J］. IEEE Transactions on Ultrasonics, Ferroelectrics, and Frequency Control, 2000, 47(5): 1102-1110.
［9］ Lorenzo G, Patrizia T. The dynamic Allan variance［J］. IEEE Transactions on Ultrasonics, Ferroelectrics, and Frequency Control, 2009, 56(3): 450-464.
［10］ Howe D A. Method of improving the estimation of long-term frequency variance［C］∥The 11th European Frequency and Time Forum. Neuchatel, Switzerland: Swiss Foundation for Research in Microtechnology,1997: 91-99.
［11］ Howe D A. TheoH: a hybrid, high-confidence statistic that improves on the Allan deviation［J］. Metrologia, 2006, 43(4): 322-331.
［12］ Tasset T N, Howe D A, Percival D B. Theo1 confidence intervals［C］∥Proceedings of the 2004 IEEE International Frequency Control Symposium and Exhibition. Montreal, Quebec, Canada: IEEE, 2004: 725-728.
［13］ Howe D A, Tasset T N. Theo1: characterization of very long-term frequency stability［C］∥Proceedings of 18th European Frequency and Time Forum(EFTF 2004). Guildford, UK: the Institution of Electrical Engineers, 2004: 581-587.
［14］李京书, 许江宁, 查峰, 等. 基于6类噪声项拟合模型的光纤陀螺噪声特性分析方法［J］. 兵工学报, 2013, 34(7): 835-839.
LI Jing-shu, XU Jiang-ning, CHA Feng, et al. Analysis method for the noise characteristics of fiber optic gyroscope based on fitting model of six noise items［J］. Acta Armamentarii, 2013, 34(7): 835-839. (in Chinese)
［15］ El-Sheimy N, Hou H Y, Niu X J. Analysis and modeling of inertial sensors using Allan variance［J］. IEEE Transactions on Instrumentation and Measurement, 2008, 57(1): 140-149.

[1]	MAO Ming, WANG Jian-bing. Research on Influence of Breakwater on Hydrodynamic Characterisitics of Displacement Amphibious Vehicles [J]. Acta Armamentarii, 2016, 37(9): 1553-1560.
[2]	GAO Jun-qiang, TANG Xia-qing, HUANG Xiang-yuan, CHENG Xu-wei. FEA Method for Analysis of SINS Error Caused by Vibration Isolation System [J]. Acta Armamentarii, 2016, 37(9): 1570-1577.
[3]	NI Yan-jie， CHENG Nian-kai, JIN Yong， YANG Chun-xia， LI Hai-yuan， LI Bao-ming. Numerical Simulation on Pressure Wave in a 30mm Electrothermal-chemical Gun [J]. Acta Armamentarii, 2016, 37(9): 1578-1584.
[4]	LU Ye, ZHOU Ke-dong, HE Lei, LI Jun-song, HUANG Xue-ying. Research on Influence of Muzzle Brake Efficiency on a New Large Caliber Machine Gun Based on Floating Principle [J]. Acta Armamentarii, 2016, 37(9): 1585-1591.
[5]	LIU Guo-qing， XU Cheng. The Study of Bullet-Barrel Matching Design Method of High Precision Sniper Rifle [J]. Acta Armamentarii, 2016, 37(9): 1592-1598.
[6]	LI Zhen-xiao， ZHANG Ya-zhou， NI Yan-Jie， LI Bao-ming. Analysis on the Influence of Turn-off Characteristics of Thyristor on Augmented Railgun [J]. Acta Armamentarii, 2016, 37(9): 1599-1605.
[7]	HU Ming, WANG Jiong, WU Xiao-lang. Estimation Method for Storage Life of Magnetorheological Fluid Fuze Arming Device [J]. Acta Armamentarii, 2016, 37(9): 1606-1611.
[8]	ZHOU Peng， CAO Cong-yong， DONG Hao. Analysis of Interior Ballistic Characteristics and Muzzle Flow Field of High-pressure Gas Launcher [J]. Acta Armamentarii, 2016, 37(9): 1612-1616.
[9]	ZHAO Xue-wei， YU Yong-gang， MANG Shan-shan. Influence of Injection Pressure Change on Expansion Characteristics of Pulsed Plasma Jet [J]. Acta Armamentarii, 2016, 37(9): 1617-1623.
[10]	LIN Xiang-yang, LI Han, ZHENG Wen-fang, PAN Ren-ming. Formation Mechanism of Pore Structure of Ball Propellant with Micro-pores Made by Double Emulsion Method [J]. Acta Armamentarii, 2016, 37(9): 1633-1638.
[11]	CUI Yun-xiao, CHEN Peng-wan, David A. Cendón, DAI Kai-da, ZHONG Fang-ping. Numerical Simulation of Dynamic Brazilian Test of Polymer Bonded Explosive Simulant Based on Cohesive Crack Model [J]. Acta Armamentarii, 2016, 37(9): 1639-1645.
[12]	CAO Hao-zhe， WU Yan-xuan， ZHOU Feng， WANG Zheng-jie. Research on Containment Control of Second-order Nonlinear Multi-agent with Collision Avoidance Mechanism [J]. Acta Armamentarii, 2016, 37(9): 1646-1654.
[13]	LOU Li, FAN Jian-hua, XU Cheng. Research on Topologically Optimized Anti-jamming Technology for Tactical MANETs [J]. Acta Armamentarii, 2016, 37(9): 1662-1669.
[14]	LIU Wei-dong, CHENG Rui-feng, GAO Li-e, ZHANG Jian-jun. Cooperative Engagement-based Differential Guidance Law for Underwater Interceptor [J]. Acta Armamentarii, 2016, 37(9): 1684-1691.
[15]	DAI Yong, QIAN Lin-fang, WU Xiao-jin, XU Ya-dong. Analysis about Thermal-structure Coupling Effect of High Firing Rate Automatic Mechanism of a Gun [J]. Acta Armamentarii, 2016, 37(9): 1738-1743.