Laser gyro has been widely applied in strapdown inertial navigation system (SINS) with great advantages of shock resistance and high sensitivity. However, because of the temperature sensitivity of the medium, optical devices and materials inside the gyroscope, when the environment temperature changes, the bias of the laser gyro is exacerbated. It makes the precision advantages of the laser gyro cannot be fully exerted. In order to meet the requirements of high-precision and strong stability in laser gyro SINS, this paper proposes a laser gyro bias compensation method based on NARX neural network embedded into EKF (NARX-EKF). Considering the dynamic time-varying characteristics of laser gyro bias caused by external temperature variations, a non-linear dynamic model of laser gyro bias partial derivative with respect to temperature can be established by nonlinear autoregressive with external input (NARX) neural network. Then, the non-linear dynamic model is embedded into an Extended Kalman filter (EKF), thereby the real-time dynamic compensation for the laser gyro temperature error has been achieved. In order to verify the effectiveness of the proposed method, related dynamic temperature experiments are designed. The results of temperature experiments show that the compensation method can accurately predict and compensate the bias drift of laser gyro. Compared with the SINS with uncompensated temperature error under the static base condition, the compensation method proposed in this paper is more effective to reduce the attitude error and meet the high accuracy requirements.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Laser Gyro Temperature Error Compensation Method Based on NARX Neural Network Embedded into Extended Kalman Filter


    Additional title:

    Lect. Notes Electrical Eng.


    Contributors:
    Yan, Liang (editor) / Duan, Haibin (editor) / Yu, Xiang (editor) / Li, Yuan (author) / Fu, Li (author) / Wang, Lingling (author) / He, Liyang (author) / Li, Daiwei (author)


    Publication date :

    2021-10-30


    Size :

    12 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English






    Extended Kalman Filter vs. Error State Kalman Filter for Aircraft Attitude Estimation

    Madyastha, Venkatesh / Ravindra, Vishal / Mallikarjunan, Srinath et al. | AIAA | 2011


    Extended Kalman Filter vs. Error State Kalman Filter for Aircraft Attitude Estimation

    Madyastha, V. / Ravindra, V. / Mallikarjunan, S. et al. | British Library Conference Proceedings | 2011


    Fiber Optic Gyro Temperature Error Compensation Based on Multi-parameter Model*

    Dai, Shaowu / Zheng, Baidong / Dai, Hongde | IEEE | 2018