单轴旋转捷联惯性导航系统误差分析与转位方案研究

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

对单轴旋转捷联惯性导航系统误差调制原理与旋转方案进行研究,分析了单轴旋转调制对各项误差的补偿作用。给出单向连续旋转、大于360°两位置正反转停、小于360°四位置正反转停的3种转动方案,对其中2种转位方案在摇摆状态下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的长时间导航定位精度相当。结合工程实际,优选四位置转停方案,在自行研制的四位置转停单轴旋转捷联惯性导航系统上进行转台摇摆和车载环境验证试验验证,结果能够满足系统初始设计指标,具有工程参考价值。

The error modulation principle and rotation scheme of single-axis rotary strapdown inertial navigation system(SINS)are studied,and the rotary modulation compensation of errors is analyzed.Single-axis unidirectional continuous rotation scheme,more than 360°two-position rotation-stop scheme,and less than 360°four-position rotation-stop scheme are designed.A long time navigation simulation of two-and four-position rotation-stop schemes is carried out under the swing state.The simulated results show that the positioning accuracies of the two-and four-position rotation-stop schemes are nearly the same.The four-position rotation-stop scheme is selected for engineering application.The rotary SINS using the four-position rotation-stop scheme is verified through the turntable and vehicle-mounted experiments,respectively.The results meet the initial design indexes of system and have reference value for engineering.