H调制陀螺监控高精度惯性导航系统

High-accuracy inertial navigation system with H-modulation gyro monitoring

对于由单自由度液浮陀螺仪构成的平台式惯性导航系统,H调制陀螺监控技术可以同时对三个导航陀螺分别进行监控和漂移自补偿,它采用北向和方位H调制陀螺监控方案,在惯性平台台体上加装北向和方位监控陀螺,对北向和方位导航陀螺进行监控,实现误差自补偿。监控陀螺采取力反馈工作方式,其输入轴与相应导航陀螺的输入轴同向平行。通过改变监控陀螺电机的转速,使其周期性工作在不同的动量矩H值上,并保证不同H值之间监控陀螺调制漂移的稳定性。根据不同H值下的监控陀螺输出,即可解算出相应导航陀螺的漂移并随时加以补偿。经过室内试验、码头系泊试验和海上航行试验的考核,结果表明,H调制陀螺监控高精度惯性导航系统其定位误差最大值≤1.50 nmile/72 h,CEP≤0.90 nmile/72 h,系统重调周期可以延长至3～5昼夜。

For the platform INS based on liquid floated single-freedom gyros,H-modulation technology can simultaneously monitor all three navigation gyros and auto-compensate the gyro drifts.This system adopts north and azimuth H-modulation gyro monitoring schemes,i.e.a north-monitoring gyro and an azimuth-monitoring gyro are installed on the platform to monitor north navigation gyro and azimuth navigation gyro respectively.The two monitor gyros work in force-feedback mode.Each input shaft is parallel with the corresponding navigation gyro＇s input shaft.By changing the gyro motor’s rotation speed,the monitor gyros can work periodically on different inertia moments（H）.The modulation-drifts among different inertia moments are controlled to be highly stable.According to monitor gyros’ outputs on different H,the drift of corresponding navigation gyros can be calculated and timely compensated.The results of laboratory tests,dock mooring tests and marine tests show that,the maximum position error of this system is ≤1.50 nmile/72 h,CEP is ≤0.90 nmile/72 h,and the re-adjustment period can be extended to 3 to 5 days.