单轴旋转惯导系统多位置对准技术研究

Multi-position Alignment of Uniaxial Rotation Inertial Navigation System

单轴旋转惯导系统很容易实现多位置对准,在初始对准中通过改变姿态矩阵,可以提高惯导系统的可观测度,从而提高初始对准的精度。推导了单轴旋转惯导系统的误差方程,在分段线性定常系统理论的基础上,利用奇异值分解的方法,对多位置对准时系统各状态变量的可观测度进行了分析。分析了旋转轴不正交误差对初始对准精度的影响,结果表明旋转轴不正交误差严重影响对准精度,需要对旋转轴不正交误差进行标定和补偿。提出了一种旋转轴不正交误差的标定方案,并对该方案进行了仿真分析,验证了该方案的可行性。

The uniaxial rotation inertial navigation system is featured by implementing multi-alignment easily.Switching the attitude matrix in the initial alignment can significantly improve the obserability degree of the inertial navigation system so as to enhance the accuracy of the initial alignment.In this way the derivation equation of the uniaxial rotation inertial navigation system can be successfully deduced.Based on the piecewise linear time-invariant systems theory,the obserability degree of rotary system multi-position alignment can be analyzed through the method of singular value decomposition.By analyzing the imapct of non-orthogonal error of the rotary axis on the accuracy of the initial alignment,the result indicates that this error has a great influence on the alignment accuracy,therefore,the calibration and compensation on the quadrature error are highly required.In the meantime,a specified program to rectify the non-orthogonal error of the rotary axis is proposed as well as the simulation analysis of the program,which verifies the feasibility of this plan.