旋转式光学陀螺捷联惯导系统的旋转方案设计

Rotation scheme design for rotary optical gyro SINS

在光学陀螺捷联式惯性系统中,利用系统旋转补偿技术可对陀螺组件和加速度计组件的输出误差进行调制,从而抑制系统的误差发散,提高导航精度。通过分析惯性测量组件的误差模型和旋转式捷联系统误差传播方程,解释了旋转误差补偿的机理。针对惯性测量组件输出误差的特性,设计单轴正反转停和双轴转位的系统旋转方案。在摇摆状态下分别对无旋转、单轴和双轴三种方案进行长时间导航仿真,对旋转补偿误差的能力进行了比较。结果表明:旋转能够抑制长期的定位误差发散,在角运动状态下旋转系统能比无旋转系统保持更好的姿态精度。

Error rotating compensation method was applied in the optical gyro Strapdown Inertial Navigation System （SINS） to modulate the drift error of the gyro unit and accelerometer unit, thus suppress the divergence of the system error and improve the precision of navigation. By analyzing the error model of Inertial Measurement Unit （IMU） and the navigation error propagating function, the mechanism of error rotating compensation method was illustrated. One axis indexed scheme and two-axis indexed scheme were designed with respect to the error characteristic of IMU. Non-rotation scheme and two kinds of rotation scheme were compared through long time navigation simulation in wobbling motion state. The result of simulation show that rotating can suppress the divergence of position error, and the rotary system can keep better attitude precision up compared with non-rotation system.