Analysis of Dynamical Drift Error of Fiber Optical Gyro with Kalman Filter

[[abstract]]慣性導航系統(Inertial Navigation System，簡稱INS)不需要參考外界資訊，廣泛應用於各種運輸工具上，以實現無障礙自動導航的目的。隨著導航速度和精度需求的提升，光學感測器已成為新一代的慣性導航測量元件，其中光纖陀螺儀(Fiber Optic Gyro，簡稱FOG)憑藉著其體積小、重量輕、低震動、易維護和良好的性能與價錢比，成為高精度慣性導航系統的首選元件。然而光纖陀螺儀的運作中存在甚多雜訊干擾源，其中以漂移誤差對精度的影響最大。本論文以卡爾曼濾波器分析其動態漂移誤差，以為未來即時系統補償之用。實驗結果顯示，卡爾曼濾波器能有效降低系統的阿倫方差(Allan variance)，達到提高光纖陀螺儀的精準度。[[abstract]]Inertial navigation system in order to achieve the purpose of the automatic navigation accessibility so doesn't need to consider external information and has been applied widely to variety vehicles With the upgrading of navigation speed and accuracy requirements optical sensor has already become inertial navigation system component of a new generation Fiber optic gyro with small size light weight low-vibration easy maintenance good performance and good price ratio become the first choice components high precision inertial navigation system But fiber optic gyro operation still has lots noise interference Among FOG operation the biggest impact on the accuracy of the drift error Analyses of dynamical drift error of fiber optical gyro with kalman filter in the thesis Experimental results show that kalman filter can lower allan variance of system effectively and improve accuracy of fiber optical gyr