激光陀螺单轴旋转惯导系统多位置对准技术研究

Research on Multi-Position Alignment in Single-Axial Rotation Inertial Navigation System with Ring Laser Gyroscope

激光陀螺单轴旋转惯导系统初始对准精度受陀螺漂移和加速度计零位的限制,为了减少对准误差,对多位置对准技术进行了研究。给出了单轴旋转惯导系统误差方程,利用奇异值分解的方法,对多位置对准时的系统各状态变量的可观测性进行分析,利用卡尔曼滤波仿真研究了多位置对准过程中方位失准角估计误差收敛情况,系统地分析了卡尔曼滤波器参数P0、Q、R的选取对陀螺漂移的估计精度和收敛速度的影响规律。对单轴旋转惯导系统进行了动基座对准的跑车实验,实验结果表明:多位置对准可以提高陀螺漂移和加速度计零位的估计精度,提高系统对准精度,系统跑车定位误差优于1 nautical mile/72 h(1 853.2 m/72 h)。

The alignment accuracy of the single-axial rotation inertial navigation system is limited by the bias of the ring laser gyroscopes and accelerometers.The multi-position alignment is researched to reduce the error of the alignment.Firstly,the error model of the single-axial rotation inertial navigation system is given;then the observability analysis of the multi-position alignment by the method of singular value decomposition is processed,and azimuth misalignment angle error of multi-position is simulated by Kalman filter.Finally,the effects of the choice of the Kalman filter parameters（including P0,Q,R）on estimation errors and convergent speed during multi-position initial alignment are analyzed.The vehicle-borne test on moving base are carried through and the results show that the multi-position alignment can improve the estimation accuracy of the ring laser gyroscope and accelerometer bias and the alignment accuracy.The accuracy of the inertial navigation system in vehicle-borne test is better than 1 nautical mile（1 853.2 m）per 72 hour.