摘要
为了弥补在调制型捷联惯导系统中,相对地理系的旋转方案无法抵消陀螺仪各误差项与地球自转角速度耦合项的缺点,提出了相对地心惯性系的三轴旋转方案。在分析了调制型捷联惯导系统中惯性器件常值偏差的误差传播规律后,结合其误差传播特性提出相对地心惯性系三轴旋转方案的旋转路径设计原则,并依据该原则设计了三轴四位置旋转方案。利用仿真实验和实物试验验证了该旋转方案的正确性,并将试验结果与相对地理系的旋转方案进行对比,对比结果表明该方案能够消除惯性器件所有常值偏差对导航信息的影响。
In order to compensate the defect that the rotation scheme relative to geography frame can not eliminate the coupling items between various gyro errors and angular velocity of earth rotation in modulated SINS, a three axis rotation scheme relative to geocentric inertial frame is proposed in this paper. Firstly, the error propagation law of inertial measurement unit（IMU） constant deviation in modulated SINS is analyzed. Secondly,the rotation path design principle relative to geocentric inertial frame three axis rotation scheme is proposed based on the error propagation law. According to this principle, the four position three-axis rotation scheme was designed. Simulation experiment and real hardware experiment verify the correctness of the rotation scheme. And furthermore, the experiment results are compared with those of the rotation scheme relative to geographical frame;comparison result shows that the proposed scheme can eliminate the effects of all IMU constant deviations on the navigation information.
出处
《仪器仪表学报》
EI
CAS
CSCD
北大核心
2013年第1期65-72,共8页
Chinese Journal of Scientific Instrument
基金
国家自然科学基金(60834005
51179039)资助项目
关键词
捷联惯导系统
旋转调制
地心惯性系
三轴旋转方案
设计原则
SINS
rotating modulation
geocentric inertial frame
three-axis rotation scheme
design principle
