CAJ | 학술논문

以教研室自行研制的90型二频激光陀螺捷联惯导系统为研究对象，详细分析了惯性系对准在静态及摇摆基座条件下的收敛时间、对准精度。理论分析表明，具体对准时间的取值应该根据IMU精度、算法参数设定以及扰动情况而定。经大量实验验证，静态条件下，对准150 s左右航向角收敛到稳态值，此时横摇和俯仰角振荡在1.5″以内，航向角振荡在1′以内；摇摆基座条件下，对准200 s后输出横摇角和俯仰角误差在7″以内，航向角误差在1.5′以内。实验结果充分证明了惯性系对准可以满足在短时间内输出姿态角达到一定精度范围的要求，具有良好的工程应用价值。
이교연실자행연제적90형이빈격광타라첩련관도계통위연구대상，상세분석료관성계대준재정태급요파기좌조건하적수렴시간、대준정도。이론분석표명，구체대준시간적취치응해근거IMU정도、산법삼수설정이급우동정황이정。경대량실험험증，정태조건하，대준150 s좌우항향각수렴도은태치，차시횡요화부앙각진탕재1.5″이내，항향각진탕재1′이내；요파기좌조건하，대준200 s후수출횡요각화부앙각오차재7″이내，항향각오차재1.5′이내。실험결과충분증명료관성계대준가이만족재단시간내수출자태각체도일정정도범위적요구，구유량호적공정응용개치。
For study of the 90-type mechanically dithered ring laser gyro SINS system which is self-developed by the authors′ department, this article detailed analyzed the convergence time and alignment precision of inertial alignment on static base and swing base. Theoretical analysis shows, the value of the alignment time should basis on the IMU accuracy, settings of the algorithm parameter and the disturbance situation. Through a large number of experiment, on static base, it takes 150 s for the heading angle reaches a steady state value, and then the oscillation amplitude of the roll angle and pitch angle are lower than 1.5″, the heading angle oscillating is within 1′; on swing base, after 200 s, the error of the roll angle and pitch angle are lower than 7″, the error of heading angle is within 1.5′. Results confirm that the inertial alignment can meet the requirement of reaching a certain attitude angle accuracy range within a short time, and can be well used in engineering applications.