单轴旋转捷联惯导系统误差分析与转位方案

Error Analysis and Rotation Scheme Research of Single-axis Rotary SINS

对单轴旋转捷联惯导系统误差调制原理与旋转方案进行了研究,光纤陀螺作为惯性测量单元的主要传感器件,其误差主要包括常值漂移、标度因数误差、安装误差以及随机漂移误差,分析了单轴旋转调制对各项误差的补偿作用,给出了单轴单向连续旋转、两位置正反转停(大于360°)、四位置正反转停(小于360°)3种转动方案。在摇摆状态下综合考虑各项误差,并对其中的两种转位方案进行了长时间导航仿真,仿真结果表明:两位置转停方案与四位置转停方案长时间导航定位精度相当,四位置转停方案不需要加装导电滑环,实现起来更加简单,是一种最为有效的单轴旋转方式。在自行研制的单轴旋转捷联惯导系统上对四位置转停旋转方式进行了转台摇摆和车载环境验证实验,结果都能满足系统设计的指标。

The error modulation principle and rotation scheme of the single-axis rotary strapdown inertial navigation system（SINS） are studied. Fiber optic gyro is the main sensor of the inertial measurement unit（IMU）, and the errors include constant error drift, scale factor error, installation error and random error. The rotary modulation compensation of these errors is analyzed here. Single-axis unidirectional continuous rotation scheme, two-position rotation-stop scheme（more than360°）, and four-position rotation-stop scheme（less than 360°） are designed in this paper. A long time navigation simulation of the two kinds of schemes is carried out under the swing state condition. The simulation results show that the position accuracy of the two-position rotation-stop scheme and four-position rotation-stop is nearly the same. The four-position scheme does not require the installation of the conductive ring, so it is the most effective single-axis rotary modulation schemes. The turntable experiment and the vehicle experiment are carried out for the rotary SINS using the four-position scheme, and the tests show that the accuracy the navigation can satisfy the system design index. It has the engineering reference value.