| Citation: | ZHU Zhanhui, WANG Lixin, CHEN Weifeng, et al. Dynamic extraction of stochastic error coefficients for gyro based on TheoH variance[J]. Journal of Beijing University of Aeronautics and Astronautics, 2017, 43(1): 18-25. doi: 10.13700/j.bh.1001-5965.2016.0048(in Chinese)
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To solve the problem that the confidence on the estimate is poor when the dynamic Allan variance is used to analyze stochastic error of gyro, due to the reduced amount of data captured by the truncation windows, a new algorithm based on high confidence and hybrid theoretical variance (TheoH variance) is proposed. The Allan variance which is used to analyze the data in the truncation windows is replaced by TheoH variance in the proposed dynamic algorithm. The problems that the averaging time calculated with Allan variance is half of total data length and the confidence decreases at long-term averaging time are perfectly solved, the correlation time of the calculation can reach 3/4 of the total time of data, and the defect that the confidence level of the error coefficient estimates decreased is effectively improved, which is caused by the dynamic algorithm data interception. The measured data of dynamic test for optical gyroscope and simulation data are analyzed with the proposed algorithm and dynamic Allan variance. The results show that the proposed algorithm can describe the non-stationary of gyroscope more effectively and greatly improve the confidence of variance estimation at middle-term and long-term correlation time.
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