综合惯性导航系统最优综合的实现

Realization of Optimal Integration in the Integrated Inertial Navigation System

本文介绍了以三环半解折式液浮陀螺惯性导航系统和几何式静电陀螺监控器组成的潜艇用综合惯性导航系统的最优滤波方法及其一些关键技术。此项技术可以有效地提高惯性导航系统的导航精度，并可大幅度地延长校准和重调周期。

This paper describes the algorithm of optimal filter and some key techniques in the submarine integrated inertial navigation system,which is composed of a three-gimbals semi-analytic inertial navigation system and a geometric inertial sys-tem called electrostatic-supported-gyro monitor. The navigation accuracy of the iner-tial navigation system can be increased greatly by using these techniques,and so that the calibration and the reset period can be extended.