陀螺角度随机游走误差对旋转惯导系统的影响

Research on the influence of rotation inertial navigation due to gyro angle random walk error

采用旋转调制技术可以抑制惯导系统误差随时间发散的趋势,然而,随机误差是限制旋转惯导系统精度继续提高的因素之一。对于高精度应用领域,陀螺角度随机游走误差也是惯导系统设计时考虑的因素。本文从对准和导航2个过程出发,研究陀螺角度随机游走误差对惯导系统的影响,结合激光陀螺实测数据进行艾伦方差分析,并利用实测结果进行仿真验证。结果表明,陀螺角度随机游走引起惯导系统振荡误差,0.0005°/√h的角度随机游走导航7天引起的位置误差大约1.3 nm。

Using rotating modulation technology can suppress the divergent trends of inertial navigation system（ INS） errors over time,but,not all inertial sensors＇ errors are all modulated to offsetting the impact on navigation accuracy. Gyro angle random walk error is a factor must be considered for INS designing. In this paper,starting the two processes of alignment and navigation,the influence of INS accuracy by gyro angle random walk error is researched. And Allan variance analyses and simulation test are carried out combine the measured data of ring laser gyro. The test results show that gyro angle random walk errors can cause oscillation errors to INS,and 0. 0005° /√h angle random walk error can cause about 1. 3nm /7 d position error.