海军工程大学学报
海軍工程大學學報
해군공정대학학보
JOURNAL OF NAVAL UNIVERSITY OF ENGINEERING
2014年
6期
42-46
,共5页
高薪%卞鸿巍%王荣颖%陈穆清
高薪%卞鴻巍%王榮穎%陳穆清
고신%변홍외%왕영영%진목청
捷联惯导%惯性系%解析对准%陀螺漂移%加速度计零偏
捷聯慣導%慣性繫%解析對準%陀螺漂移%加速度計零偏
첩련관도%관성계%해석대준%타라표이%가속도계령편
SINS%inertial frame%analytic alignment%gyro drift%accelerometer bias
针对捷联惯导晃动基座下惯性系粗对准两种不同的计算方法,分析了由陀螺常值漂移和加速度计零偏引起的漂移误差(即平台失准角)、刻度误差和歪斜误差,并推导了这些误差项与惯性元件误差之间关系的解析表达式。结果表明:两种惯性系对准算法的平台失准角具有相同的极限精度,并且与传统解析对准法的精度一致;惯性系对准法的歪斜误差很小可以忽略,但需对姿态阵正交化以消除刻度误差的影响。
針對捷聯慣導晃動基座下慣性繫粗對準兩種不同的計算方法,分析瞭由陀螺常值漂移和加速度計零偏引起的漂移誤差(即平檯失準角)、刻度誤差和歪斜誤差,併推導瞭這些誤差項與慣性元件誤差之間關繫的解析錶達式。結果錶明:兩種慣性繫對準算法的平檯失準角具有相同的極限精度,併且與傳統解析對準法的精度一緻;慣性繫對準法的歪斜誤差很小可以忽略,但需對姿態陣正交化以消除刻度誤差的影響。
침대첩련관도황동기좌하관성계조대준량충불동적계산방법,분석료유타라상치표이화가속도계령편인기적표이오차(즉평태실준각)、각도오차화왜사오차,병추도료저사오차항여관성원건오차지간관계적해석표체식。결과표명:량충관성계대준산법적평태실준각구유상동적겁한정도,병차여전통해석대준법적정도일치;관성계대준법적왜사오차흔소가이홀략,단수대자태진정교화이소제각도오차적영향。
This paper discusses the errors in analytic coarse alignment with two different calculating methods when the inertial frame for SINS is on the swaying base,analyses the drift errors (misalign-ment angles),scale errors,and skew errors caused by the gyro drift and accelerometer bias,and de-rives the analytic expression of the relationship between inertial instrument errors and alignment er-rors.The results show that both the misalignment angles of the two proposed methods have the same ultimate alignment value as the traditional analytical alignment.The skew errors of the proposed methods are so small that they could be negligible,but the attitude matrix must be orthogonalized to eliminate the effects of the scale errors.