激光陀螺捷联惯导系统的圆锥运动误差激励方法研究

Research of Error Excitation Method by Coning Motion for RLG-SINS

捷联惯导系统的精度受到自身各种误差因素的影响,针对陀螺的标度因数误差和非正交安装角误差,提出了一种以圆锥运动激发姿态误差来进行快速标定的方法。通过理论分析得出,在短时间内,由于标度因数误差和非正交安装角误差的存在,圆锥运动将激发出随时间线性增大的姿态解算误差。将解算得到的姿态误差与陀螺数据联立,可以反解得到标度因数误差和非正交安装角的值。通过仿真验证,安装角误差能达到1″以内,标度因数误差能达到5ppm以内。

The accuracy of strapdown inertial measurement unit（IMU）is affected by many error parameters.Aiming at calibrating the gyro scale factor errors and gyro nonorthogonal installation errors,a new method is presented,which uses the coning motion to excite the attitude errors.Theory analysis shows that,as the existence of the scale factor errors and nonorthogonal installation errors,calculated attitude errors will increase linearly with time by the excitation of coning motion.Combining with the attitude errors and the data of gyro,the scale factor errors and nonorthogonal installation errors can be calculated.Through the simulation tests,the accuracy of nonorthogonal installation errors and scale factor errors can reach 1″and 5ppm,respectively.