| Autor: |
О. І., Нестеренко, І. М., Платов, Д. В., Бугайов |
| Předmět: |
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| Zdroj: |
Automation of Technological & Business Processes / Avtomatizaciâ Tehnologiceskih i Biznes-Processov; 2022, Vol. 14 Issue 3, p37-42, 6p |
| Abstrakt: |
Vertical Gyro is a gyroscopic device for attitude (pitch, roll angles) determination. This article deals with the influence of the object oscillations on the Vertical Gyro error and its reduction. The reason of the Vertical Gyro error at oscillations is acceleration appeared at the place of the Vertical Gyro installation on the object. This acceleration disturbs gyro correction by accelerometers as level sensors. There are following popular types of the Vertical gyro correction: proportional, proportional-integral, constant, mixed, and strapdown Vertical Gyros use also the Kalman filter and its various modifications. The choice of one or another type depends on tasks to be solved and possibility to use complex correction types. This article investigates the Vertical Gyro with constant correction which has a number of advantages specifically when working at object acceleration. A technique for reducing the Vertical Gyro error is proposed which uses automatic switch off the correction by analysis of the level sensor signal. There is proposed a band-pass filter for this signal, technique for choice of parameters of the proposed switching-off algorithm that provides minimum of the Vertical Gyro error at oscillations. Example of calculation of these parameters is presented. To check correctness of the calculations and to confirm the efficiency of the technique, data obtained during bench tests of the Inertial Labs MRU-B2 (Vertical Gyro built on micromechanical sensors) were used. A semi-physical simulation of the Vertical Gyro operation with the proposed method of reducing the error during oscillation was performed. This simulation results confirmed the effectiveness of the proposed method and the correctness of the analytical calculations. Due to the proposed switching off the correction during the oscillation, it was possible to reduce the initial error by approximately 80%. In further work, it is planned to investigate the operation of the Vertical Gyro with proportional-integral correction (which is also widely used) at oscillations, with correction automatic switch off. [ABSTRACT FROM AUTHOR] |
| Databáze: |
Complementary Index |
| Externí odkaz: |
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