CAJ | 학술논문

安装在单轴转位机构上的惯性测量单元(IMU)，会因IMU坐标系与载体坐标系不重合而存在一定的倾斜角，此倾斜角会使得IMU在旋转过程中引入姿态误差，在很大程度上降低了系统的姿态输出精度。为了降低安装倾斜角对旋转式捷联惯导系统的影响，文章通过对旋转过程中因安装倾斜引起的姿态角误差进行了详细分析，然后运用实验和数据拟合的方法得出了倾斜角随转位机构变化的规律，最后对倾斜角产生的误差加以补偿。经仿真和实验验证表明，对倾斜角误差补偿后，单轴旋转式捷联惯性导航系统的水平姿态精度由原先的2°提高到0.05°范围以内，航向误差由原先的0.5°提高到0.005°，大大提高了旋转式捷联惯导系统的姿态精度，具有一定的工程应用价值。
안장재단축전위궤구상적관성측량단원(IMU)，회인IMU좌표계여재체좌표계불중합이존재일정적경사각，차경사각회사득IMU재선전과정중인입자태오차，재흔대정도상강저료계통적자태수출정도。위료강저안장경사각대선전식첩련관도계통적영향，문장통과대선전과정중인안장경사인기적자태각오차진행료상세분석，연후운용실험화수거의합적방법득출료경사각수전위궤구변화적규률，최후대경사각산생적오차가이보상。경방진화실험험증표명，대경사각오차보상후，단축선전식첩련관성도항계통적수평자태정도유원선적2°제고도0.05°범위이내，항향오차유원선적0.5°제고도0.005°，대대제고료선전식첩련관도계통적자태정도，구유일정적공정응용개치。
There is an inclination angle between inertial measurement unit (IMU) coordinate system and vehicle coordinate system when the rotary strap-down inertial navigation system (SINS) mounted on the single-axis indexing mechanism, for the IMU could introduce attitude computation error and degrade the attitude output accuracy of vehicle. In order to reduce the impact of installation inclination angle on rotary SINS, this paper analyzes the attitude errors caused by installation inclination angle deviation, and then derives the rotation principle with the installation azimuth angle by experiments and data fitting methods. Finally,the inclination angle deviation is compensated. The simulation and experiment results show that, after inclination angle deviation compensation, the horizontal attitude deviation is decreased to 0.05° from 2°, and the yaw deviation is decreased to 0.005° from 0.5°, which greatly improves the attitude accuracy of rotary SINS and has a certain value of engineering applications.