第三章光學(xué)慣性測量裝置

1、光纖/激光陀螺慣性測量裝置設(shè)計(jì)流程示意圖5V15V，ie1xxxyyzzfxSMMBngxgxYgxZgxbbbibgyXgygyZibgygibggzXgzYgzgzKMMBMKMBMBMMKBaxaxYaxZaxbbbayXayayZayaaazXazYazazKMMBfMKMfBM fBMMKBIMU各軸朝向位置1X軸Y軸Z軸點(diǎn)11天東北點(diǎn)12天南東點(diǎn)13天西南點(diǎn)14天北西IMU各軸朝向位置2X軸Y軸Z軸點(diǎn)21地東南點(diǎn)22地南西點(diǎn)23地西北點(diǎn)24地北東1i1,.4,/ 42i5,.8,/ 4.6i21,.24,/ 4FNijNijFNijNijFNijNij， j， j， jjojxjx

2、yjyzjzNKK AK AK A0()/cos( , )cos( , )cos( , )jjjxyzNKKAj xAj yAj zjojxjxyjyzjzNKK AK AK A0()/cos( , )cos( , )cos( , )jjjxyzNKKAj xAj yAj zojK/xjyjzjKKKjK/xyzAAAcos( , ),cos( , ),cos( , )j xj yj zjojxjxyjyzjzNKK AK AK A0()/cos( , )cos( , )cos( , )jjjxyzNKKAj xAj yAj z(1, )(2, ).(6, )10010010010010010

3、0jFFjFjFjgggAgggojxjyjzjKKKKK原方程為原方程為iFAK1jKA F回歸系數(shù)為回歸系數(shù)為1,2,3,6,/6ojKFjFjFjFjxj0yj0zj0(1, )(4, ) / 2/(2, )(5, ) / 2/(3, )(6, ) / 2/KFjFjGKFjFjGKFjFjG222jxjyjzjKKKKcos( , )/cos( , )/cos( , )/xjjyjjzjjj xKKj yKKj zKK/cos( , )cos( , )cos( , )iioixixyiyzizxyzNKDD AD AD Aj xj yj ziN為敏感測量軸i單位時(shí)間的輸出iK為敏感測量

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6、ieyiezieDFiFiFiDFiFii xDFiFii yDFiFii z1bxxxyxzaxxbyyxyyzayybzzxzyzazzfaSFaMAaMAfaBfaMAaSFaMAfaBfaMAaMAaSFfaB、 、 axfayfazfbxfbyfbzfxaByaBzaB1bxxxyxzaxxbyyxyyzayybzzxzyzazzfaSFaMAaMAfaBfaMAaSFaMAfaBfaMAaMAaSFfaB 、 、 xaSFyaSFzaSFxyaMAxzaMAyxaMAyzaMAzxaMAzyaMA(12) / 2xaBfxfx(34) / 2yaBfyfy(56) / 2zaBfz

7、fz(12) / 2xaSFfxfxg(34) / 2yaSFfyfyg(56) / 2zaSFfzfzg( 12)/2yxaMAfyfyg( 12)/2zxaMAfzfzg( 34)/2xyaMAfxfxg( 34)/2zyaMAfzfzg(56)/2xzaMAfxfxg1bxxxyxzgxxbyyxyyzgyybzzxzyzgzzgSFgMAgMAgBgMAgSFgMAgBgMAgMAgSFgB、 、 、 、 、 、 gxgygzbxbybzxgBygBzgB1bxxxyxzgxxbyyxyyzgyybzzxzyzgzzgSFgMAgMAgBgMAgSFgMAgBgMAgMAgSFgB 、 、 、 、 、 、 、 xgSFygSFzgSFxygMAxzgMAyxgMAyzgMAzxgMAzygMAWx1xgB Wy2ygB Wz3zgB 0121(WxWx )MjjjxMjjgSF 150-150(Wyx-(Wyx)/(2*150)yxgMA150-150(Wzx-(Wzx)/(2*150)zxgMA0TTDDD TD TD0D,TTDDTT011rrTiiiTiiiDDDTDT,iiT T,TiTiDDD00()TDDD TTT0T1T2T1T2T121201212TTTTDDD TD TD TD T(1,2,3,4)TiDi