摘要
当惯性陀螺工作在方位姿态时 ,有一定的斜坡漂移 ,它将引起惯性导航系统中的严重的航向和位置误差 ,所以有必要估计和补偿它。本文描述了斜坡漂移产生的原因和特性 ,详细讨论了一种在 BBA校准后利用惯导系统的输出来估计和补偿斜坡漂移和常值漂移的方法 ,以及提出了几个在实际操作中需注意的问题。
WT5”BZ]There exists a slope drift in an integral gyro when it is used as an azimuth gyro, which may cause serious heading and position errors in the Inertial Navigation System (INS). Thereby, it is necessary to estimate and compensate it. This paper describes its cause and characteristics. A method of using the output of INS after BBA calibration to estimate it and constant drift is discussed in detail. In addition, some issues needed to note in the practical operation are provided too. Software simulation and practical experiment both show the validity of this method.
出处
《中国造船》
EI
CSCD
北大核心
2004年第3期57-63,共7页
Shipbuilding of China
关键词
船舶工程
惯性导航系统
常值漂移
斜坡漂移
BBA校准
ship engineering
BBA calibration
inertial navigation system (INS)
constant drift
slope drift
