激光陀螺捷联惯性导航系统中惯性器件误差补偿技术

Inertial Instrument Error Compensation Technology in Laser Gyro Strapdown Inertial Navigation System

为了提高激光捷联惯性导航系统的导航精度,对惯性器件误差进行了原理上的分析和说明,并针对由国内某型激光陀螺构成的惯性测量器件进行了误差分析.在此基础上建立了误差补偿的精确数学模型,提出了一种简易的且具有较高精度的误差模型参数静态标定方法,给出了计算误差模型参数的数学推导过程和解析表达式.分析结果表明,惯导系统误差主要由惯性器件测量误差引起,为了有效补偿惯导系统的系统误差,必须针对具体的惯性器件进行误差补偿.实际测试结果证明,该计算方法精度较高,可以有效提高惯导精度.

To improve the navigation precision of laser gyro strapdown inertial navigation system, an error compensation technology is presented, which has an effect on the navigation precision. The system errors mainly result from the inertial instrument errors. This paper emphasizes the principle analysis of the inertial instrument errors, and builds the exact mathematical models. And a new calibration approach is discussed, through which the models parameters can be exactly acquired. The procedure of the parameters analysis and solution is given. The results of the actual experiments demonstrate both the validity and high-precision of the new calibration approach, so the navigation precision can be improved.