惯性测量单元(IMU)是位置姿态系统(POS)的核心部分,IMU的精度很大程度上决定着POS精度。由于高精度光纤陀螺(FOG)的光纤线圈对磁场敏感,基于高精度FOG的IMU精度会受磁场影响而降低。本文研究了FOG磁敏感性机理,通过实验得出高精度光纤IMU对磁场敏感的结论。采用电磁场有限元分析软件Ansoft Maxwell研究了磁屏蔽体采用不同材料、不同厚度时的磁屏蔽效能(SE),并进行了IMU磁屏蔽结构设计。通过亥姆霍兹线圈测试得到的磁屏蔽体实际屏蔽效能最高为48.20 dB,与有限元分析结果基本一致。转台环境测试表明:屏蔽体使FOG漂移减小到9%以上;亥姆霍兹线圈测试表明:通过磁屏蔽使FOG零偏磁敏感度衰减2~21 dB,漂移磁敏感度衰减9~23 dB,对提高光纤IMU测试和应用精度以及机载环境适应性有重要意义。
The inertial measurement unit (IMU) is the core of a position and orientation system (POS), whose accuracy has a crucial impact on POS accuracy. But the IMU accuracy based on high precision fiber-optic gyroscope (FOG) is degraded because of the sensitivity of the FOG fiber coil to the magnetic field. This paper studied the magnetic sensitivity mechanism of the FOG, and through experimental study reached the conclusion that the IMU based on a high precision FOG is also sensitive to the magnetic field. An IMU shielding is designed, and its shielding effectiveness (SE) is analyzed by electromagnetic field finite element analysis software Ansoft Maxwell for different materials with different thicknesses. The best SE of 48.20 dB is achieved with a Helmholtz coil test, which is consistent with the results of the finite element analysis. The turn table test shows that a reduction of over 9% of the FOG drift is achieved with the enclosure. The Helmholtz coil test with magnetic shielding demonstrates that the bias and drift magnetic sensitivity of the FOG are decreased by 2-21 dB and 9-23 dB respectively. The shielding is valuable for improving the IMU test and application precision and its adaptability to airborne environment.
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