CAJ | 학술논문

角速率随机游走是高精度光纤陀螺的一项主要随机误差源，对惯性导航系统的误差有着较大影响。分析了角速率随机游走的统计特性，推导了角速率随机游走引起的惯性导航系统姿态、位置误差的解析表达式，研究了静基座环境下的惯性导航系统在长时间导航环境下的随机误差传播规律，对角速率随机游走作用下的惯性导航系统误差进行了仿真与实验，验证了所推导公式的正确性，对惯性导航系统的设计与误差分析具有一定的参考意义。
각속솔수궤유주시고정도광섬타라적일항주요수궤오차원，대관성도항계통적오차유착교대영향。분석료각속솔수궤유주적통계특성，추도료각속솔수궤유주인기적관성도항계통자태、위치오차적해석표체식，연구료정기좌배경하적관성도항계통재장시간도항배경하적수궤오차전파규률，대각속솔수궤유주작용하적관성도항계통오차진행료방진여실험，험증료소추도공식적정학성，대관성도항계통적설계여오차분석구유일정적삼고의의。
The rate random walk ( RRW) is one of the major error sources of the high precision fiber-op-tic gyroscope and it has a great influence on the inertial navigation system (INS) accuracy.In this paper, the time-domain statistical characteristics of the rate random walk are analyzed and the mathematical ex-pression of position error and attitude error in an INS caused by RRW is deduced .Besides,the error prop-agation characteristics of an INS in the environment of fixed base and long-time navigation are analyzed . Finally,simulations and experiments are designed to test the correctness of the derived formulae .The re-search is meaningful and valuable for the error analysis and design of an INS .