Institute of Navigation Instrument, Harbin Institute of Technology, Harbin 150001, China.
College of Automation, Harbin Engineering University, Harbin 150001, China.
Sensors (Basel). 2019 Jan 9;19(2):222. doi: 10.3390/s19020222.
The implementation principle of a typical three-pulse cold atom interference gyroscope is introduced in this paper. Based on its configuration and current research status, the problems of cold atom interference gyro are pointed out. The data-rate is insufficient, and it is difficult to achieve high dynamic measurement. Then, based on these two limitations, a novel design of the monitoring navigation system of the cold atom interference gyroscope (CAIG) and an intermediate-grade inertial measurement unit (IMU) was proposed to obtain the long-term position result without GPS signals, such as the Inertial Navigation System (INS) in underwater vehicles. While the CAIG was used as the external gyro, the bias of IMU and the misalignment angle between the CAIG-frame and the IMU-frame are obtained through filtering technique. The simulation test and field test demonstrated the improvements of the long-term positioning accuracy of the INS.
本文介绍了典型三脉冲冷原子干涉陀螺仪的实现原理。基于其配置和当前的研究现状，指出了冷原子干涉陀螺仪存在的问题，即数据率不足，难以实现高动态测量。然后，针对这两个局限性，提出了一种新型的冷原子干涉陀螺仪（CAIG）监测导航系统和中级惯性测量单元（IMU）的设计，以在没有 GPS 信号的情况下获得长期位置结果，例如水下航行器中的惯性导航系统（INS）。当 CAIG 用作外部陀螺仪时，通过滤波技术获得 IMU 的偏差和 CAIG 框架与 IMU 框架之间的失准角。仿真测试和现场测试证明了 INS 长期定位精度的提高。
