旋转捷联惯导系统的轨迹仿真算法

Track Simulation Algorithm of Rotational Initial Navigation System

结合旋转捷联惯导的系统编排和载体运动模型,推导理想情况下旋转捷联惯导系统中惯性器件在任意角运动和线运动条件下的输出;在考虑了惯性器件的常值误差,随机误差,刻度系数误差,IMU安装误差以及旋转轴的安装误差对惯性器件输出的影响后,设计了系统的轨迹仿真算法。在相同运动条件和误差条件下,分别仿真了一般捷联惯导系统和旋转捷联惯导系统的惯性器件输出,并利用该输出进行了导航解算。结果表明:无误差条件下导航解算航线与预设的理想航线重合,该轨迹仿真算法准确合理;在给定的误差条件下,旋转捷联惯导系统精度提高一倍。算法可为旋转捷联惯导系统的误差分析、导航解算以及初始对准等技术研究提供惯性器件输出仿真。

The ideal output of inertial sensors in random situation were deduced rooted in the motion model of vehicle and the cradle of rotational inertial navigation system（INS）; the track simulation algorithm was designed under the consideration of constant bias, random error, scale-factor error of the inertial sensors and alignment error of inertial measurement unit （IMU） and rotational axis. The inertial sensors outputs were obtained from the traces of normal strapdown INS and rotational INS on the same motion and error conditions, and then the outputs were used for navigation calculation. The result reveals that the track calculated by rotational INS in ideal satiation is identical with the given one, which proves the accurately and logically of the designed algorithm. The accuracy of rotational INS improves about 1 times compared with the normal strapdown INS under the setting error. The algorithm can provide simulated output of inertial sensors for research on error analysis, navigation calculation, initial alignment of rotational INS.