单轴旋转捷联惯导系统尺寸参数辨识与转位设计

Size parameters identification and rotation project design for single-axis rotary SINS

为了求解单轴旋转捷联惯导系统的尺寸参数,推导了参数辨识的公式,并设计了转位方案。首先,分析了单轴旋转捷联惯导系统(SINS)尺寸效应的原理,推导了以加速度计输出量为观测量的尺寸参数辨识方法。然后,针对辨识公式中的载体姿态进行了研究,发现合理的整周旋转方案可以消除载体姿态及姿态误差角对尺寸参数辨识的影响,并基于转位角速度的匀加减速模型,分析了该模型与速度增量误差之间的的关系,设计了转位方案。最后,进行了参数辨识试验,得到的尺寸参数标准差<2.3mm(1σ),利用均值补偿二位置对准的尺寸效应后,初始对准精度由69.5″(3σ)提高到47.2″(3σ),验证了方法的可行性。

To calculate size effect parameters of single-axis rotary Strapdown Inertial Navigation System （SINS）, relevant expression is derived and rotation project is designed. The principle of size effect for the system is analyzed,and the method utilizing acceleration measurement as observables for calculating the size effect parameters is proposed. The body attitude in the expression for size effect parameters is analyzed. It is concluded that reasonable circle rotation project can eliminate cal- culation errors caused by body attitude and its error. The relationship between constant acceleration and deceleration model of rotational angular rate with calculation errors is analyzed. A rotation project is then designed. Experiment is conducted to obtain the size effect parameters with standard errors 〈2.3 ram（ 1 σ）. The mean parameters are then used to compensate the size effect of two-position alignment. Precision of the alignment is improved from 69.5＂（3σ） to 47.2＂（3σ） ,demonstrating the feasibility of the method.