旋转调制捷联惯导激光陀螺仪误差自补偿新方法

A New Method of Error Autocompensation for Ring Laser Gyroscope in Rotation-Modulated Strapdown Inertial Navigation System

基于旋转调制的自补偿技术是进一步提高激光陀螺仪捷联惯导系统导航精度的有效方法。研究了旋转调制捷联惯导系统中的激光陀螺仪误差补偿方法。建立旋转式捷联惯导系统激光陀螺仪的误差传播方程,分析激光陀螺仪旋转误差效应及误差传播特性,在此基础上建立了调制策略编排目标函数;研究了双轴交替旋转调制模式下的调制策略编排方案,提出了一种改进的16次序双轴交替旋转调制方法,建立了基于双轴转动角速度的动态误差方程,实现了转动过程中激光陀螺仪的常值项误差、标度因数误差、安装误差的有效补偿,进一步抑制速度误差积累所引起的位置误差。仿真结果验证了该方法的有效性,提高了捷联惯导系统导航精度,可为旋转调制光学捷联惯导系统设计提供理论参考。

The error autocompensation technique based on rotation-modulation is an effective method to improve the navigation accuracy of ring laser strapdown inertial navigation system. The error compensation method of ring laser gyroscope （RLG） in rotation-modulated strapdown inertial navigation system （RMSINS） is studied. The error propagation equations of RLG in RMSINS are built, then the rotating error effect and the error propagation characteristics are analyzed through modeling. Based on this, the object function of modulation schemes is deduced and the modulation scheme under Indexing is arranged effectively. Then an improved sixteen-sequence two-axis indexing scheme is proposed to compensate the RLG＇s constant drift error, scale factor error, fixing error, and the position error produced by speed error accumulating based on the dynamic error function of two-axis rotating speed. The simulation results show the effectiveness which lays a sound foundation for actual application of RMSINS.