基于天文/GPS/惯性组合方式的惯导动态测试系统

Dynamic test system for INS based on integrated mode of celestial/GPS/inertial

从天文导航技术出发,设计了天文/GPS/惯性组合测量方式,解决惯性导航系统速度误差和角速率动态实时测量问题。重点介绍天文/GPS/惯性组合测量方式的基本原理和组成,并对组合方式的星体检测、授时和测角单元、伺服控制、数据滤波和误差补偿、导航解算等各个关键部分进行理论设计,为提高惯性导航系统的动态测试精度提供了一种可行的方法。误差分析计算结果表明,动态条件下的光轴指向均方根误差约为5″,满足测量要求。

The celestial/GPS/inertial integrated measurement method was designed based on celestial navigation technology for real-time measured dynamic rate error and angle speed of the INS. The paper emphatically introduced the principles and composition of celestial/GPS/inertial integrated measurement method, designed the key parts of integrated measurement method, including star test, time-giving and angles measured unit, servo control, data filter and navigation error compensate calculated module, navigation calculated unit. It provided a viable way to improve the dynamic precision of the INS. The error analysis and calculation show that the accuracy of the optical axis pointing is 5″ in dynamic condition, meeting the measurement requirements.