惯性导航系统陀螺仪斜坡漂移的估计及补偿方法探讨

A Method for Compensating the Slope Drift Component of Gyro in an Inertial Navigation System

单自由度积分陀螺仪作为方位陀螺使用时有斜坡漂移分量,在惯导系统的工作过程中可能导致较为严重的航向和位置误差,因此估计和消除这一漂移量将是必不可少的。此外,随机漂移统计模型的建立也将要求首先分离斜坡分量。本文将就方位陀螺斜坡漂移的产生、性质、控制斜坡漂移的措施作一探讨,并提出一种利用系统工作过程的实测输出估计和补偿斜坡漂移的方法。

There is a slope drift rate component in a single-freedom integrated gy- roscope when used as an azimuth sensor in an inertial navigation system.The existance of this component may bring about a serious error during the task period of the system.There- for,it is necessary to estimate and compensate such a component,after a proper technology to reduce it has been used.In addition,the moulding procedure of a random drift rate com- ponent alse requires to separate the regular terms from the test data of gyro drift rate.The arising and the property of a slope drift rate component are described,the technology to re- strain this component is discussed,and a mehtod to estimate and compensate this compo- nent,using the output of the navigation system during its operation is provided in this pa- per.