CAJ | 학술논문

为增强惯性器件误差可观测度，满足高精度导航要求，基于平台方位旋转技术，设计了水下旋转平台惯导系统（ARGINS）陀螺漂移的单点校正算法。首先，引入旋转平台惯导的误差方程，利用Laplace变换分析了陀螺漂移和加速度计零位偏置对系统时域特性的影响；其次，设计了针对水下旋转平台惯导的单点校正算法，包括旋转平台惯导的初始对准、状态切换以及方位陀螺漂移的单点校正；最后，对单点校正算法进行了仿真实验。仿真结果表明：该单点校正算法可有效估计和补偿方位陀螺漂移，同时降低东、北向陀螺漂移以及加速度计零位偏置对系统误差的影响，有效抑制后续导航误差发散现象，提高导航精度。
위증강관성기건오차가관측도，만족고정도도항요구，기우평태방위선전기술，설계료수하선전평태관도계통（ARGINS）타라표이적단점교정산법。수선，인입선전평태관도적오차방정，이용Laplace변환분석료타라표이화가속도계령위편치대계통시역특성적영향；기차，설계료침대수하선전평태관도적단점교정산법，포괄선전평태관도적초시대준、상태절환이급방위타라표이적단점교정；최후，대단점교정산법진행료방진실험。방진결과표명：해단점교정산법가유효고계화보상방위타라표이，동시강저동、북향타라표이이급가속도계령위편치대계통오차적영향，유효억제후속도항오차발산현상，제고도항정도。
In order to improve observability ,satisfy the demand of high-accuracy navigation ,the sin-gle point calibration for gyroscope drift estimation of ARGINS is proposed based on platform rotating technology .Firstly ,the introduction of the error equations in ARGINS and the use of Laplace trans-forms aim at dealing with the impact of IM U error on the time domain characteristics of the system ;Secondly ,the single point calibration is devised for the gyroscope drift of underwater ARGINS ,inclu-ding initial alignment , status switching and single point calibration for position gyroscope bearing drift ;Finally ,the single point calibration is simulated .The result shows that the single point calibra-tion can estimate and compensate for the gyroscope drift in azimuth and control the errors in position so as to improve the navigation precision effectively .