单轴旋转惯导系统转轴陀螺常值漂移综合校正方法

Comprehensive calibration of rotation axis gyro constant bias for single-axial rotation of INS

为提高单轴旋转惯导系统长时间的导航工作精度,根据单轴旋转惯导误差方程阐述了单轴旋转惯导的自动补偿原理,指出转轴方向陀螺漂移是引起系统位置误差发散的最主要的误差源。在动基座条件下,建立了转轴陀螺常值漂移与系统经度误差之间的数学模型,根据经度误差即可估计转轴方向的陀螺常值漂移,实现系统转轴方向陀螺的常值漂移综合校正。利用计算机仿真方法验证了所给数学模型的合理性,利用建立的数学模型,只要获得一次准确的位置信息,即可对系统位置进行重调,并且实现对系统转轴方向陀螺漂移的估计与补偿,实现系统的综合校正。转轴方向陀螺漂移经过补偿后,其精度由0.002(°)/h提高到0.0005(°)/h,并给出了对系统进行综合校正的较佳时机。

According to the error equation of the system, the auto-compensating principle was introduced for improving the precision of the single-axial rotation of INS （SRINS）. It is shown that the gyro constant bias in rotation axis is the main error source that causes the longitude error volatilization of the system. Under the moving base situation, the approximate math model was built to estimate the bias of the gyro in the direction of rotation axis. The simulation results show that the math model is reasonable, and the position of the SRINS could be revised only if one accurate position is known. The comprehensive calibration of the system could be realized by using the math model, and the accuracy of rotation axis gyro is increased to 0.0005（°）/h from 0.002（°）/h, and the preferred calibration time is also given.