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Performance evaluation of the Allan variance method for ring laser gyroscope noise analyses |
| LI Qi1, BAI Zhengdong1, ZHAO Sihao2, DAI Dongkai3, XING Haifeng4 |
1. Department of Civil Engineering, Tsinghua University, Beijing 100084, China;
2. Department of Electronic Engineering, Tsinghua University, Beijing 100084, China;
3. College of Advanced Interdisciplinary Studies, National University of Defense Technology, Changsha 410073, China;
4. Department of Precision Instrument, Tsinghua University, Beijing 100084, China |
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Abstract The Allan variance method for various types of gyroscopes in various conditions was evaluated for ring laser gyroscope (RLG) noise at room temperature (~25℃) and steady conditions with analyses of the minor RLG noise terms besides the 5 major noise terms. Tests of a Chinese RLG and the widely used MPU 9250 micro-electro-mechanical systems (MEMS) inertial measurement unit (IMU) for static and dynamic conditions show that the Allan variance method can be used to estimate the main noise terms of various types of gyroscopes for static conditions to set the Kalman filter parameters for integrated global navigation satellite system/inertial navigation system (GNSS/INS) with the parameter values depending on the degree of understanding of the gyroscope physics. Several conclusions are given to supplement the classical Allan variance method in the IEEE Standard Specification Format Guide and Test Procedure for Single Axis Interferometric Fiber Optic Gyros. The wide applicability of the Allan variance method is contrasted with some commonly used data analysis methods. The Allan variance method has been widely recognized for metrology of precise instruments to improve the design and manufacture of precise instruments and to improve the precision of inertial measurements.
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| Keywords
ring laser gyroscope (RLG)
micro-electro-mechanical systems (MEMS) inertial measurement unit (IMU)
MPU 9250
Allan variance (AVAR)
assessment
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Issue Date: 19 November 2019
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2019,
Vol. 59
