ON ALGORITHMS CREATION FOR STRAPDOWN STABILIZED GYROCOMPASS OPERATION BASED ON ELECTRICALLY SUSPENDED GYROSCOPE

G. I. Emelyantsev, A. A. Medvedkov, C. Tijing


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Article in Russian


Abstract

The paper presents operation algorithms of ESG-based strapdown stabilized gyrocompass (SSGC) located onboard a mobile vehicle. Initial alignment mode and calibration of drift model coefficients onboard a vehicle is aided by reference attitude (heading, pitch and roll angles) and position data. The required reference attitude parameters can be generated by joint processing of data from MEMS IMU with gyros and accelerometers and GPS compass. Depending on the vehicle dynamics and required accuracy of generated heading, the system may use IMU based on the fiber-optic gyros and accelerometers instead of MEMS to construct the place vertical.  Specific features of SSGC algorithms in heading generation are considered. Calibration and corrected operation modes of the system are described. The SSGC uses two ESGs with orthogonal angular momentum vectors, where one gyro is the reference (unit vector of its angular momentum is aligned with the celestial axis) and the other one is virtual (with zero misalignments with respect to the inertial frame, and zero drift model coefficients). Joint processing of SSGC data and external position aiding is realized by extended Kalman filter with full-state feedback control.  Simulation modeling results of the system operation algorithms are presented. Simulation modeling has confirmed the system compass effect and determined the time required for calibration of ESG with solid-rotor. The results have been applied at «Concern CSRI “Elektropribor”», JSC.


Keywords: electrically suspended gyroscope (ESG), strapdown stabilized gyrocompass, fiber-optic gyroscope, micromechanical sensors (MEMS)

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