捷联惯导量化误差建模研究

Modeling of Inertial Sensor Quantization Error of SINS with a Locally Level Coordinate Frame

从分析惯性器件量化误差产生的机理入手,建立了含量化噪声的捷联惯导系统误差微分方程,并用该方程的离散形式研究了系统误差方程中量化噪声的统计特性(功率谱密度的计算问题)。最后通过数值实例,定量分析了量化噪声对系统精度的影响和量化噪声建模不当引起的模型误差。

The paper analyzed the modeling of inertial sensor quantization noise, and the attitude, velocity, and position error equations of SINS are presented for locally level coordinate frame, in which inertial sensor quantization noise is presented. The discrete difference error equation form is used to develop values for power spectral densities of inertial sensor quantization noise terms that are taken as white noise terms in differential error propagation equations. Numerical examples are provided to assess the quantization noise-induced equivalent random walk for proper and improper quantization noise modeling. Under the different update periods of navigation parameters, which is from 40 Hz to 1 kHz, the quantization noise-induced equivalent random walk coefficient of improper quantization noise modeling is from 57 times to 1414 times as much as that of proper quantization noise modeling.