车载捷联惯导系统粗对准中摆动误差补偿研究

Swing Error Compensation in Coarse Alignment for Land SINS

分析了在风吹或地面松软等情况下,车体摆动干扰的特点,提出了一种车载捷联惯导系统补偿摆动误差,实现粗对准的方法:利用加速度计输出信息修正陀螺信号,然后采用修正后的陀螺信息和加速度计的平均信息,实现初始粗对准。仿真结果表明,该补偿方法基本消除了车体摆动干扰影响,补偿后的粗对准结果与静基座粗对准结果相当,从而在车体摆动情况下缩短了精对准时间,提高了对准精度。

The characteristics of swing interference are analyzed when the land vehicle is in wind or insoft ground. A new compensating method of swing error for land SINS is prposed to realize coarse alignment： by the acceleration information of accelerometer, the angle velocity relative to the earth that is output by gyroscope is mended. The coarse alignment is realized by the mended gyroscope information and the average acceleration information. The emulation results show that the swing interference is eliminated mostly by this compensating method. After the swing error is compensated, the coarse alignment result is equivalent to resting coarse alignment result, which shortens the precise alignment time and improves the alignment precision when the land vehicle is in swing.