光学陀螺旋转惯导系统原理探讨

On the Theory of Optical Gyro Rotating Inertial Navigation System

利用旋转自动补偿光学陀螺的漂移是实现高精度惯性导航的有效途径之一,补偿的原理可以从惯性导航的误差方程中得到阐明。光学陀螺的特点决定了采用元件级的旋转方式会带来额外的误差和问题,而只能采用系统级的旋转,即整个惯性测量组合旋转补偿的方式。对一种8次180°翻转的光学陀螺惯性测量组合旋转方案进行了图形化的说明和分析,并仿真比较了旋转补偿前后的导航误差,结果表明这种系统级的补偿方案能够抵消所有惯性元件的静态漂移,从而大大提高了导航输出的位置和姿态精度。

Auto-compensating the drift in optical gyros by IMU rotating mechanism is an important way to enhance the navigation precision.The theory of auto-compensating can be clarified in the navigation error propagating functions.Because the attributes of optical gyro determines that rotation of gyro will inevitably bring extra error,the rotaion of the whole IMU is the only mechanism,An eight-180-degree rotating mechanism of IMU was proposed and illustrated in detail.Analyses and simulation show that errors from lo...