惯导系统初始对准误差模型研究

Error Models of Inertial Navigation System in Initial Alignment and Calibration

论述了惯导系统 (INS)误差模型的重要作用 ,介绍了惯导误差方程推导必须遵循的步骤以及误差方程所涉及的坐标系的关系。根据基本的运动学方程 ,推导了动基座条件下基于计算坐标系和基于真实坐标系的平台惯导系统速度误差方程及通用 ψ、φ姿态角误差模型。根据推导出的模型 ,分别给出了两种特殊情形下的 ψ、φ姿态角误差模型。

The error models are very important in the error analysis and fault detection of inertial navigation system(INS).In this paper,under the condition of moving base,the general ψ、φ angle error models of the gimbaled INS are presented in detail,and the general ψ、φ angle error models of GINS are also addressed.