A self-calibration method for error of photoelectric encoder based on gyro in rotational inertial navigation system

摘要： As a precision goniometer, photoelectric encoder plays an important role in rotational inertial navigation system (RINS). The encoder is used to measure the rotate angle of rotating mechanism for attitude calculation and feedback of motor control. However, the experiment shows that there are position-related errors in the encoder output, so calibration is necessary in high precision applications. This paper presents a calibration method designed by the characteristics of encoder errors and the structure of a tri-axis RINS. In RINS, the gyro sensitive axis can be coincided with the motor axis by gimbals rotation, and then the gyro and the photoelectric encoder measure the same angle, so the error can be calculated as the difference between the encoder output and the integral of gyro output. The error will be analyzed through Fourier method, then the error will be ?tted by least squares method and a harmonic model will be established. The veri?cation experiments demonstrate that the angle measurement error is reduced from ± 4000 to ± 200, and the attitude output error drops 7500. The calibration method is proved to be experimentally effective.