捷联惯导单轴转停调制中角变速运动影响研究

Effect of angle variable motion on rotation strapdown inertial navigation systems

针对调制型捷联惯导系统中旋转机构的角变速运动,建立了角变速运动模型,推导了该运动过程中惯性器件常值误差和刻度因数误差的形式,在此基础上设计了抵消该误差的旋转运动方式,给出针对角变速运动过程的旋转方案设计原则.利用仿真试验比较了两种转停方案系统定位误差,试验结果验证了改进旋转方案的正确性与适用性.利用自研光纤陀螺系统工作在不同旋转方案下进行验证性试验,结果表明该方法能够有效地抑制旋转过程中角变速运动的影响,提高系统的导航精度.

The angle variable motion of rotating mechanism in rotation strapdown inertial navigation system （SINS） was studied, and angle variable motion modal was established. Then, the main error form of constant error and scale factor error of inertial measurement unit （IMU） was derived. The motion mode of error compensation was designed on the basis of main error form, and the design prin- ciple of rotation scheme was given. At last, the design principle correctness was proved by the simula- tion test with two kinds of rotation schemes. The experiment is operated by the FOG （fiber optic gyro） SINS which is made by our lab, and the result shows that navigation error is inhibited by the new rotation method.