CAJ | 학술논문

分析了转位机构角速度误差和角位置误差对旋转式捷联惯导系统的影响,研究了旋转式捷联惯导系统的基本解算结构,这些对提高旋转式捷联惯导系统的精度具有十分重要的意义.详细介绍了角度调整型和角速度调制型两种旋转式捷联惯导系统的基本解算结构,给出了转位机构角速度误差和角位置误差在这两种解算结构下的误差传播特性.研究结果表明,对于角速度调制型解算结构,恒定的转位机构角速度误差等效于方位常值陀螺漂移,将对系统精度产生很大的影响,转位机构角位置误差与两个水平方向的角速度互相耦合,产生两个水平方向上的角速度误差;对于角度调制型解算机构,转位机构的角速度误差和角位置误差不引入到捷联回路,对捷联回路不产生影响,但是在IMU姿态到载体姿态变换的过程中,转位机构角位置误差引起载体航向误差,且航向误差的大小与转位机构的角位置误差相等.
분석료전위궤구각속도오차화각위치오차대선전식첩련관도계통적영향,연구료선전식첩련관도계통적기본해산결구,저사대제고선전식첩련관도계통적정도구유십분중요적의의.상세개소료각도조정형화각속도조제형량충선전식첩련관도계통적기본해산결구,급출료전위궤구각속도오차화각위치오차재저량충해산결구하적오차전파특성.연구결과표명,대우각속도조제형해산결구,항정적전위궤구각속도오차등효우방위상치타라표이,장대계통정도산생흔대적영향,전위궤구각위치오차여량개수평방향적각속도호상우합,산생량개수평방향상적각속도오차;대우각도조제형해산궤구,전위궤구적각속도오차화각위치오차불인입도첩련회로,대첩련회로불산생영향,단시재IMU자태도재체자태변환적과정중,전위궤구각위치오차인기재체항향오차,차항향오차적대소여전위궤구적각위치오차상등.
In order to improve the precision of rotating strap-down inertial navigation system, the influence of angle rate error and angle error of rotation mechanism on the rotating SINS was analyzed, and the basic computation structure of rotating SINS was studied. Two types of computation structure in single-axis rotating SINS were introduced, one is angle modulation and the other is angle rate modulation. The propagation property of rotation mechanism’s angle rate error and angle error in these two computation structures were given. Research results show that, for computation structure of angle rate modulation, the constant angle rate error of rotation mechanism is equivalent to the azimuth gyro constant drift, and has great influence on system accuracy. The angle error of rotation mechanism would be coupled with the angle rates in two horizontal directions, introducing angle rate errors in two horizontal directions. For computation structure of angle modulation, the angle error and angle rate error of rotation mechanism could not be introduced into the strapdown loop, so it does not have impact on the strapdown loop, but the angle error of rotation mechanism would bring vehicle heading error in the process of transforming IMU attitude into vehicle attitude, and the vehicle heading error is the same as the angle error of rotation mechanism.