CAJ | 학술논문

从单轴旋转惯导系统的误差方程出发,分析载体角运动对系统的影响,从改变IMU旋转角速率的角度补偿系统的“航向耦合效应”.针对绕载体系 Z 轴正反旋转的单轴旋转系统,载体航向运动与IMU 的旋转运动耦合改变了从旋转坐标系到导航坐标系的坐标变换矩阵的形式,从而影响系统误差调制效果,导致系统的“航向耦合效应”.为保证该坐标变换矩阵的周期性,考虑改变 IMU 的旋转角速率,使之绕导航系而非载体系匀速旋转,隔离载体航向运动与IMU 旋转运动的耦合,补偿航向运动对系统的影响.最后,利用海上试验实测的姿态和航向数据进行了单轴旋转惯导系统的误差仿真.结果表明,采取“航向耦合效应”补偿方案时,无姿态运动条件下系统位置误差减小一半;在实际姿态运动条件下,系统误差减小三分之一.
종단축선전관도계통적오차방정출발,분석재체각운동대계통적영향,종개변IMU선전각속솔적각도보상계통적“항향우합효응”.침대요재체계 Z 축정반선전적단축선전계통,재체항향운동여IMU 적선전운동우합개변료종선전좌표계도도항좌표계적좌표변환구진적형식,종이영향계통오차조제효과,도치계통적“항향우합효응”.위보증해좌표변환구진적주기성,고필개변 IMU 적선전각속솔,사지요도항계이비재체계균속선전,격리재체항향운동여IMU 선전운동적우합,보상항향운동대계통적영향.최후,이용해상시험실측적자태화항향수거진행료단축선전관도계통적오차방진.결과표명,채취“항향우합효응”보상방안시,무자태운동조건하계통위치오차감소일반;재실제자태운동조건하,계통오차감소삼분지일.
The influence of vehicle angular motion on single-axis rotating INS was analyzed based on the INS error equation. The heading-coupling effect of the INS was compensated by changing the angular rate of IMU rotation. The heading alternation coupling with IMU rotation changed the coordinate transformation matrix from rotation frame to navigation frame, and consequently impacted the error modulation of the rotating INS, which was called heading-coupling effect. To ensure the cyclicity of the transformation matrix, the rotating rate of IMU was adjusted to keep it rotating regularly in navigation frame rather than body frame. So the interference between heading alternation and IMU rotation was isolated. The error simulation of single-axis rotating INS was conducted with the attitude and heading data of the actual test on sea, and the results indicate that the position error of the INS with the heading isolation scheme decreases 50% when without attitude motions, and the error decreases one third when when with attitude motions.