Fine modeling for coupled vibration problem of laser strap-down inertial navigation

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Journal of Vibration and Shock ›› 2019, Vol. 38 ›› Issue (21) : 271-277.

YAO Zhiqiang1, LEI Hongjie1, SONG Hanwen2, ZHANG Yi1

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Abstract

The problem of measurement accuracy of laser gyroscope in inertial measurement unit (IMU) being lower than the result measured singly is one of difficult points in the research of laser strap-down inertial navigation.It was shown that in the engineering practice, for laser gyroscope running in IMU to keep its performance during its running singly, the key is vibration decoupling.Here, using the theorem of moment of momentum and Lagrange equation, IMU’s 6-DOF vibration model was built.To realize vibration decoupling, the elastic ellipsoid of the vibration reduction system similar to its inertial ellipsoid was defined.IMU’s vibration response features were analyzed when elastic ellipsoid has different position relations to inertial one.It was concluded that IMU reaches its optimal design state when the two ellipsoids’ centers and principal axes coincide with each other, respectively; at this moment, vibrations of 6-DOF are all decoupled.

Key words

Laser strapdown inertial navigation / vibration coupling / ellipsoid of inertia / ellipsoid of elasticity

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YAO Zhiqiang1, LEI Hongjie1, SONG Hanwen2, ZHANG Yi1. Fine modeling for coupled vibration problem of laser strap-down inertial navigation[J]. Journal of Vibration and Shock, 2019, 38(21): 271-277

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