基于单轴旋转组合的捷联惯导双轴旋转调制算法设计

Rotation modulation algorithm design for SINS based on integration of single-axis rotations

从旋转过程出发,分析指出经典的双轴转—停—转方案中停位过程带来的误差振荡;从结构角度出发,分析指出经典的双轴旋转方案中旋转框架的存在带来的耦合误差以及机械电气设计加工难度;提出了基于单轴旋转组合的双轴旋转方案,两个分别水平与垂直安装的单轴旋转装置的连续旋转避免了停位过程的存在,机械结构保证了两旋转轴的垂直度,避免了旋转过程中的耦合误差。仿真比较了经典双轴旋转调制、基于单轴旋转组合的双轴旋转调制两种方案。仿真结果表明,在本文的仿真条件下,基于单轴旋转组合的双轴旋转调制相较于经典双轴调制,两者系统误差相当,但随机误差减小了约20%。

The error oscillation caused by the stop process is analyzed for the conventional dual-axis rotation-stop-rotation scheme.The coupling error caused by the rotation frame and the machinery and electricity difficulties in the design and machining are pointed out for dual-axis rotation method.A new dual-axis rotation method based on the integration of single-axis rotation is put forward,and in this method,two single rotation devices are used which are installed in the vertical and horizontal direction respectively.Compared with the conventional method,the stop process is avoided because of the continuous rotation,and the coupling error is eliminated because of the mechanical structure.Two simulation schemes,i.e.the conventional dual-axis rotation and the dual-axis rotation based on integration of single-axis rotation,are compared.The simulation results indicate that the system errors are almost equal in these two methods,but compared with the first method,the random error is decreased about 20% by the second method.