双轴旋转式激光捷联惯导系统的转位方案研究

Research on Rotating Scheme for Dual-Axis Rotation Laser SINS

惯性导航系统的误差随时间累积,旋转调制技术可以有效地提高惯导系统的长航时精度,旋转调制方案是决定旋转式捷联惯导系统导航精度的一个重要因素。针对双轴旋转惯导系统,相较于16次序转位方案,提出了一种新的32次序双轴旋转调制方案。根据捷联惯导系统的误差方程,推导出旋转捷联惯导的误差方程,分析了误差补偿的机理,研究了惯性器件常值偏置误差、标度因数误差和安装角误差的传播特性。仿真结果表明,32次序双轴旋转调制方案相对于16次序转位方案有明显的优势,可以有效地降低姿态角误差和经纬度误差。

The error of inertial navigation system has the characteristics of accumulation over time. However,error rotating compensation method can effectively improve the long-time navigation accuracy. And the rotating scheme of the turntable is an important factor to determine the precision of rotary SINS. Based on the dual-axis rotating SINS,compared with the sixteen sequence dual-axis indexing scheme,a thirty-two sequence indexing scheme is put forward to modulate the inertial instrument errors better. By deriving the error model of strap-down inertial navigation system and analyzing the navigation propagating function,the mechanism of error rotating compensation is described in detail. And the propagation characteristics of inertial sensor errors,scale factor errors and installation errors are also studied. The simulation results show that the thirty-two sequence dual-axis indexing scheme has obvious advantages when compared with the sixteen sequence dual-axis indexing scheme. And it can effectively reduce the amplitude of attitude angle errors and longitude and latitude errors.