中文摘要：

陀螺动态寻北算法目前普遍采用动态测试结合数据拟合的方法,针对此方法处理动态测试数据存在去噪效果不强、数据存储运算量大的缺点,提出一种基于互相关函数消噪的快速动态寻北方案,推导了寻北原理公式。该方法先利用连续恒速的机械旋转将激光陀螺和加速度计的输出信号调制成一定频率的三角调幅波;然后,根据互相关函数同频相关,不同频不相关的性质,取两路相同频率的基准信号分别计算与陀螺和加速度计输出信号的互相关函数,以消除惯性器件漂移和噪声对寻北精度的影响。仿真结果表明,新算法可实现全姿态下的高精度陀螺寻北,30 s的方位角和姿态角误差小于0.01°。寻北实验结果表明,该算法对惯性器件测量过程中的各类噪声有很好的抑制作用,5 min寻北标准差达到32.7″,基本满足高精度寻北的需求。

英文摘要：

Dynamic test data fitting method was widely used in Gyro dynamic north algorithm at present.In this study, rapid dynamic north method based on cross-correlation function was presented to overcome the shortcomings of the weak denosing effect and large amount of data in dynamic test data fitting method and to deduce find north principle formula. This method firstly modulated the output signal of a ring laser gyro and accelerometer to create a certain frequency triangular amplitude modulation wave by continuous constant speed rotation. Then, calculated the cross-correlation function of two lines with the same frequency reference signal and the output signal of gyro and accelerometer separately, based on the nature of the cross-correlation function associated with the frequency, which to eliminate the accuracy effect of find north by inertial device drift and noise. The simulation results show that the new algorithm can realize all-attitude north finding in high precision and the error of azimuth angle and attitude angle is less than 0.01° after 30 s find north. The experiment on the north-finder results indicates that this algorithm can effectively restrain all kinds of noise in the measurement process of inertial devices, and the standard deviation is about 32.7″ for 5 min, which can basically satisfy the requirement of high precision north-finding.