杆臂效应误差对晃动基座粗对准的影响

Influence of lever-arm effect error on coarse alignment on shaking base

为提高晃动基座下惯导系统的粗对准精度,增强惯导系统对准过程中对环境的适应性,采用了一种基于补偿杆臂效应误差的晃动基座粗对准算法。研究了晃动基座下粗对准原理,推导了晃动基座下粗对准算法中的杆臂速度误差项,最后通过仿真和摇摆试验对在不同扰动条件下杆臂效应误差对粗对准的影响进行了验证。仿真验证和摇摆试验结果表明:在晃动基座下,杆臂效应误差对惯导系统粗对准精度影响显著,特别是在大幅晃动基座上,当补偿杆臂效应误差后,惯导系统粗对准精度可以提高10倍以上,为进一步实现高精度快速精对准奠定了基础。

In order to improve the coarse alignment accuracy of INS on shaking base and enhance the adaptability of environment during alignment of INS, an arithmetic of coarse alignment based on compensating the lever-arm effect error on shaking base was adopted. The principle of coarse alignment on shaking base was studied, and the lever-arm effect error in coarse alignment algorithm was deduced. Finally, the influences of lever-arm effect error on coarse alignment in different shaking conditions were confirmed through simulation and swaying experiments. Simulation and swaying experiments show that the coarse alignment accuracy of INS is significantly affected by lever-arm effect error on shaking base, and the coarse alignment accuracy of INS is improved by more than 10 times after compensating the lever-arm effect error on severe shaking base, laying a foundation for the further realization of high precision and rapid fine alignment.