单轴旋转惯导系统误差特性研究

Research on Single Axis Rotation INS Error Characteristics

为研究单轴旋转惯导系统的误差特性,推导了旋转惯导误差方程,分析了陀螺典型器件误差对惯导系统误差特性的影响。为了研究不同旋转方式对陀螺器件误差的调制效果,设计了单轴单向连续旋转、单轴正反连续旋转以及单轴转停三种旋转方式,分析了各旋转方式对典型误差源的调制效果。综合考虑陀螺常见器件误差,选取典型误差量,基于Simulink建立了仿真模型,仿真了不同旋转方式下的惯导系统位置误差特性。结果表明,不同的旋转方式会产生不同的调制效果;同时,单轴正反旋转的惯导系统可以有效地对陀螺常见器件误差进行自补偿,提高定位精度。

For the study of error characteristics of single axis rotation INS, the rotating INS error equation was derived and the influence of the typical device error of gyro on INS error characteristics was analyzed. On this basis, in order to study the modulation effect on gyro device error in different rotating ways, three rotating ways were designed. They are single axis one - way continuous rotation, single axis positive and reverse continuous rotation, and single axis rotate -stop rotation. The modulation effect on typical error sources in different rotating ways was analyzed. The simulation model with gyro common device errors and the typical amounts was established based on Simulink. The position errors were simulated. The simulation result shows that modulation effects vary with the rotation ways. And the single axis positive and reverse rotation INS can compensate the common device errors of gyros effectively so as to improve the precision of INS.