旋转惯导系统误差自补偿原理分析及试验验证

Errors autocompensation principle analysis and experiments verification for rotational inertial navigation systems

为分析旋转惯导系统误差自补偿原理,分别推导陀螺漂移的随机常值分量、时间相关分量以及随机游走分量在捷联惯导系统和旋转惯导系统中造成的角度误差及其统计特性,并进行对比。结果表明,旋转可将陀螺漂移中的常值分量完全调制并能抑制时间相关分量的影响,但对随机游走分量造成的误差无调制效果。采用0.1(°)/h漂移率的陀螺和0.2mg偏置的加速度计研制旋转惯导系统样机并进行导航试验,试验结果表明,该系统可以达到0.2nmile/h导航精度。

To analyze the autocompensation principle of rotational inertial navigation systems （INS）, plaform misalignment and its statistic characteristics in strapdown INS and rotational INS caused by gyro drifts, which can be divided into the random constant components, time-related components and random walk compo nents, are discussed and compared. The results show that the rotational INS can eliminate errors caused by the constant components of the drifts, and can restrain that caused by the time-related components, but it has no effect s on the random walk components. Rotational INS configured with the gyros of 0.1 （°）/h drifts and accelerom eters of 0.2 mg biases is used to do the verification experiments and a 0.2 n mile/h navigation accuracy is achieved.