Calibration of Model Parameters in Navigation Devices Based on Fiber-Optic Gyroscopes
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bration of Model Parameters in Navigation Devices Based on Fiber-Optic Gyroscopes V. N. Likhacheva, *, O. V. Trifonovb, **, and V. S. Yaroshevskyb, *** a
AO NPO Lavochkin, Khimki, Moscow Region, 141402 Russia
b
Keldysh Institute of Applied Mathematics, Russian Academy of Sciences, Moscow, 125047 Russia *e-mail: [email protected] **e-mail: [email protected] ***e-mail: [email protected] Received April 1, 2019; revised August 12, 2019; accepted September 9, 2019
Abstract—The features of navigation devices based on fiber-optic gyroscopes cause problems in their practical applications and require calibration prior to being used. The algorithms for accumulating and processing the information of strapdown inertial blocks (SIBs) based on fiber-optic gyroscopes and units determining the stars’ coordinates (UDSC) are given. The calibration algorithms are modified to reduce the onboard computer memory and take into account the time limitations of the program execution. The results of the modeling prove the efficiency of the proposed solutions. Keywords: navigation device, fiber-optic gyroscope, unit determining star coordinates, mathematical models of devices, calibration of parameters DOI: 10.1134/S2070048220050130
INTRODUCTION Two kinds of navigation devices are installed onboard spacecraft: strapdown inertial blocks (SIBs) based on fiber-optic gyroscopes and modified units determining the stars’ coordinates (UDSC). Each device has its handling error and spacecraft-onboard setting error bounded by the nameplate data of the device. If only the nameplate data of the SIBs’ navigation devices is used without taking into account the errors of the mechanical setup onboard the spacecraft, the accumulation of orientation errors prevents a soft lunar landing. The main aim of the calibration is to refine the following SIB parameters: the scaling factor and zero drift with respect to each measurement axis of the sensor of the angular velocity, as well as the accelerometers’ zero shifts with respect to each measurement axis, using UDSC devices and the engine unit. A special bench (see [1]) is designed to create the software-algorithmic package for the simulation of the calibration. 1. COORDINATE SYSTEMS The following coordinate systems are used to describe the location of gages and actuators of the spacecraft’s control system: the spacecraft’s base coordinate system (BCS) and the device’s coordinate systems (DCS) related to installing devices on the spacecraft. The BCS base plane is the plane separating the spacecraft’s construction from the booster. The OX axis goes through the centroid at the initial time and is orthogonal to the base plane. The origin O is the intersection of the OX axis and base plane. The base plane of the BCS contains the axes OY and OZ complementing the OX axis up to the right-handed coordinate system. Each gage has a landing plane through which it is fixed on the spacecraft. The landing coordinate system of each gage is rigidly connected to the landing plane. 676
CALIBRATION OF MODEL PARAMETERS IN NAVIGATIO
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