长航时激光惯导定位误差的补偿方法研究

Compensation Method on Positioning Errors of Ring Laser Gyro Inertial Navigation System in Long-Endurance

针对激光惯导长时间航行时定位误差发散的问题,提出了一种适用于激光惯导定位误差综合补偿的方法。引入经典的误差方程和旋转激光陀螺的误差方程,主要分析陀螺漂移对惯导系统的影响,根据分析结论,提出了基于外部位置和航向信息的长航时激光惯导定位误差的补偿方法。理论和实验分析表明,所提出的补偿方法明显的抑制了激光惯导的误差随时间的积累,可有效提高长航时激光惯导的定位精度。

A new compensation method is proposed to solve the problem that the positioning errors of ring laser gyro inertial navigation system diverge when the warship has sailed for a long time. Classical error equation and single-axis rotary ring laser gyro error equation are introduced, the effects of gyro drift of INS are analyzed, then based on the analysis results, a compensation method depend on external position Information and heading Information is presented. Theoretical analysis and test results show that the compensation method could effectively restrain the system errors and greatly improve the SINS navigation accuracy in long-endurance applications.