Skip to main content
SpringerLink
Log in

Differential methods of identifying gyro noise structure

  • Published:
Gyroscopy and Navigation Aims and scope Submit manuscript

Abstract

The paper considers the differences in accuracy criteria for gyros in two applications: measuring rotation about a fixed axis and measuring rotation about a point. We describe the class of gyro noise with zero spectral density at zero frequency. This noise does not cause errors in angles of rotation (i.e., integrals of angular velocity projections on the gyro sensitivity axis) to accumulate with time, but lead to accumulation of errors in attitude determined by strapdown inertial systems. Ways of identifying gyro noise structure using the known lower order variances are analyzed: two-sample variance (Allan variance), three-sample variance (Hadamar variance), and proposed higher order variances [1].

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  1. Krobka, N.I., Differential Methods for Identification of the Structure of Noise of Fiber-Optical and Other Gyros, 17th St. Petersburg Int. Conf. on Integrated Navigation Systems, St. Petersburg: Elektropribor, 2010, pp. 63–66.

    Google Scholar 

  2. IEEE Std 647-1981. IEEE Standard Specification Format Guide and Test Procedure for Single-Axis Laser Gyros; IEEE Std 647-1995. IEEE Standard Specification Format Guide and Test Procedure for Single-Axis Laser Gyros; IEEE Std 647-2006. IEEE Standard Specification Format Guide and Test Procedure for Single-Axis Laser Gyros.

  3. IEEE Std 952-1997. IEEE Standard Specification Format Guide and Test Procedure for Single-Axis Interferometric Fiber Optic Gyros; IEEE Std 952-1997 (R2008). IEEE Standard Specification Format Guide and Test Procedure for Single-Axis Interferometric Fiber Optic Gyros.

  4. IEEE Std 292-1969 (R2010). IEEE Specification Format for Single-Degree-of-Freedom Spring-Restrained Rate Gyros.

  5. IEEE Std 293-1969 (R2010). IEEE Test Procedure for Single-Degree-of-Freedom Spring-Restrained Gyros.

  6. IEEE Std 517-1974 (R2010). IEEE Standard Specification Format Guide and Test Procedure for Single-Degree-of-Freedom Rate-Integrating Gyros.

  7. IEEE Std 528-2001 (R2007). IEEE Standard for Inertial Sensor Terminology (Japanese translation published by the Japan Standards Association).

  8. IEEE Std 529-1980 (R2010) IEEE Supplement for Strapdown Applications to IEEE Standard Specification Format Guide and Test Procedure for Single-Degree-of-Freedom Rate-Integrating Gyros.

  9. IEEE Std 813-1988 (R2005) IEEE Specification Format Guide and Test Procedure for Two-Degree-of-Freedom Dynamically Tuned Gyros.

  10. IEEE Std 1431-2004 (R2009) Specification Format Guide and Test Procedure for Coriolis Vibratory Gyros.

  11. IEEE Std 1554-2005. IEEE Recommended Practice for Inertial Sensor Test Equipment, Instrumentation, Data Acquisition, and Analysis.

  12. IEEE Std P1559-2009. IEEE Standard for Inertial Systems Terminology.

  13. IEEE Std P1780. IEEE Standard Specification Format Guide and Test Procedure for Inertial Measurement Units (IMU) [being developed by IEEE/AESS Gyro and Accelerometer Panel].

  14. Krobka, N.I., The Features of the Strapdown Inertial Orientation Systems Based on Three-Axis Fiber-Optic Gyros with One Common Light Source, 15th St. Petersburg Int. Conf. on Integrated Navigation Systems, St. Petersburg: Elektropribor, 2008, pp. 89–91.

    Google Scholar 

  15. Krobka, N.I., A New Noncommutative Kinematic Effect and Its Manifestations in Strapdown Inertial Orientation Systems Based on Fiber Optic Gyros, Gyroscopy Navigation, 2010, vol. 1, no. 1, pp. 26–36.

    Article  Google Scholar 

  16. Krobka, N.I., Non-Commutative Kinematic Effects and Laws of Fiber-Optic Gyro Noise Accumulation in Strapdown Inertial Orientation Systems, 16th St. Petersburg Int. Conf. on Integrated Navigation Systems, St. Petersburg: Elektropribor, 2009, pp. 69–72.

    Google Scholar 

  17. Allan, D.W., Statistics of Atomic Frequency Standards, Proc. IEEE, 1966, vol. 54, no. 2, pp. 221–230.

    Article  Google Scholar 

  18. Riley, W.J., The Basics of Frequency Stability Analysis, http://www.wriley.com/

  19. Krobka, N.I., Accurate Error Equations of the Strapdown Inertial Navigation Systems, The Second Soviet-Chinese Symp. on Inertial Technology, Peshekhonov, V.G., Ed., St. Petersburg: Elektropribor, 1992, pp. 43–50.

    Google Scholar 

  20. Krobka, N.I., The Concept of Accurate Equations of Errors and Estimations of Quantum Limits of Accuracy of Strapdown Inertial Navigation Systems Based on Laser Gyros, Fiber-Optical Gyros, and Atom Interferometers on de Broglie Waves, 17th St. Petersburg Int. Conf. on Integrated Navigation Systems, St. Petersburg: Elektropribor, 2010, pp. 95–112.

    Google Scholar 

  21. Sveshnikov, A.A., Prikladnye metody teorii sluchainykh funktsii (Applied Methods of Theory of Random Functions), Moscow: Nauka, 1968.

    Google Scholar 

  22. Krobka, N.I. and Sviridov, M.V., On the Influence of Random Perturbations of Angular Velocity on the Solution of Kinematic Problem, Izv. Akad. Nauk SSSR, Mekh. Tverd. Tela, 1984, no. 1, pp. 145–150.

  23. Krobka, N.I., Application Features of Three-Axis Laser Gyros in Strapdown Inertial Navigation Systems, IV Russian-Chinese Symp. on Inertial Technology, St. Petersburg, 1993, pp. 54–63.

  24. Krobka, N.I. and Sapozhnikov, I.N., Works on Laser Gyroscopy in Applied Mechanics Scientific Research Institute Named after Academician V. I. Kuznetsov, The First International Conf. on Inertial Technology, St.-Petersburg: Elektropribor, 1994, pp. 3–12.

    Google Scholar 

  25. http://www.alamath.com/index.php?option=com-content&task=view&id=12&Itemid=9

  26. Scientific Technical Report Ekperimental’nye issledovaniya shumov VOG filiala TSENKI NII PM imeni akademika V.I. Kuznetsova (Experimental Studies of FOG Noise at Federal State Unitary Enterprise Center for Ground-Based Space Infrastructure, Kuznetsov Scientific Research Institute of Applied Mechanics), Principal Investigator N.I. Krobka, Federal State Unitary Enterprise Center for Ground-Based Space Infrastructure, Kuznetsov Scientific Research Institute of Applied Mechanics, кинд Э001.2402., 2008.

  27. Krobka, N.I., Studying FOG Noise Structure by Allan Variance Method, in Scientific Yechnical Report Razrabotka tekhnicheskikh predlozhenii po sozdaniyu besplatformennogo inertsial’nogo bloka (BIB) na volokonno-opticheskikh giroskopakh (VOG) i mayatnikovykh akselerometrakh (MA) dlia sistem upravleniya KA i spuskaemogo apparata (Development of Technical Proposals on Strapdown Inertial Unit (SIU) on Fiber-Optic Gyros (FOG) and Pendulous Accelerometers (PA) for Spacecraft and Reentry Vehicles) on the 2nd Phase of Development Project TSENKI-N, Federal State Unitary Enterprise Center for Ground-Based Space Infrastructure, Kuznetsov Scientific Research Institute of Applied Mechanics, кинд. Э032-3476, 2008, pp. 71–147.

  28. Krobka, N.I., Analysis of Noise Structure of FOG Output Using Test Results and Noise Influence on Space-craft Determination Accuracy, Scientific Technical Report on the 4th Phase of Development Project TSENKI-N, Federal State Unitary Enterprise Center for Ground-Based Space Infrastructure, Kuznetsov Scientific Research Institute of Applied Mechanics, кинд. Э001.2422, 2008, pp. 62–101.

  29. Kurbatov, A.M., Method of Processing the Signals of a Ring Interferometer in Fiber-Optic Gyro (Options), RF Patent no. 2130587, Class G01B9/02, G01C19/72, 1999.

  30. Kurbatov, A.M., Method of Compensating the Sagnac Phase Difference in a Ring Interferometer in Fiber-Optic Gyro, RF Patent no. 2146807, Class G01J9/02, 2000.

  31. Kurbatov, A.M., Method of Stabilizing the Scale Factor of Fiber-Optic Gyro, RF Patent no. 2160885, Class G01C19/72, G01B9/02, 2000.

  32. Kurbatov, A.M., Method of Fiber-Optic Gyro Data Processing, RF Patent no. 2160886, Class G01C19/72, G01B9/02, 2000.

  33. Andreev, A.G., Ermakov, V.S., Kurbatov, A.M., and Kryukov, I.I., Method of Processing the Signals of a Ring Interferometer in Open-Loop Fiber-Optic Gyro, RF Patent no. 2176775, Class G01B9/02, G01C19/72, 2001.

  34. Andreev, A.G., Ermakov, V.S., Kurbatov, A.M., and Kryukov, I.I., Method of Phase Modulation of Ring Interferometer Beams in Fiber-Optic Gyro, RF Patent No. 2194245, Class G01B9/02, G01C19/72, 2002.

  35. Andreev, A.G., Ermakov, V.S., Kurbatov, A.M., and Kel’, O.L., Method of Processing the Signals of a Ring Interferometer in Fiber-Optic Gyro, RF Patent no. 2194246, Class G01B9/02, G01C19/72, 2002.

  36. Andreev, A.G., Ermakov, V.S., and Kurbatov, A.M., Method of Phase Modulation in Ring Interferometer in Fiber-Optic Gyro, RF Patent no. 2194247, Class G01B9/02, G01C19/72, 2002.

  37. Siraya, T.N., Allan Variance as a Measurement Error Estimate, Giroskop. Nav., 2010, no. 2, pp. 29–36.

Download references

Author information

Authors and Affiliations

  1. Federal State Unitary Enterprise Center for Ground-Based Space Infrastructure, Kuznetsov Scientific Research Institute of Applied Mechanics, Moscow, Russia

    N. I. Krobka

Authors
  1. N. I. Krobka
    View author publications

    You can also search for this author in PubMed Google Scholar

Additional information

Published in Russian in Giroskopiya i Navigatsiya, 2011, No. 1, pp. 59–78.

The article was translated by the author.

Rights and permissions

Reprints and permissions

About this article

Cite this article

Krobka, N.I. Differential methods of identifying gyro noise structure. Gyroscopy Navig. 2, 126–137 (2011). https://doi.org/10.1134/S2075108711030084

Download citation

  • Received:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1134/S2075108711030084

Keywords

Search

Navigation