基于惯导系统模型的自对准陀螺测漂方法研究

Realization of self-alignment gyro drift measurement based on INS model

针对平台式惯导系统初始测漂过程需要外界提供航向基准的特点,文中提出了一种既能自动寻北又能准确测量陀螺漂移的测漂方法.通过方位精对准状态在北西天坐标系和东北天坐标系两次定位测量水平陀螺漂移,在水平精对准状态下记录北向速度并采用最小二乘法解算方位陀螺漂移.仿真和工程试验结果表明,该测漂方法在实现自动寻北的条件下,能实现对水平轴和方位轴漂移的精确测量,满足导航系统对常值漂移测量精度的要求.

Based on the fact that external heading reference is needed in gym drift measurement of inertial navigation system（INS）, this paper provides a new method which can realize not only gym drift measurement but also north-seeking. Horizontal gym drift is measured in state of azimuthal alignment by the two localization laws of the three directions of north, west and up, as well as east, north and up. Azimuthal gym drift can be calculated by means of least-square if north velocity is recorded in the state of horizontal alignment. Computer simulation and practical experiment show that the self-alignment method can not only realize self-alignment, but also measure gyro drift accurately. That is to say the new method ensures the measure accuracy demanded by the navigation system.