CAJ | 학술논문

在单轴旋转激光陀螺惯导系统中，转轴方向误差将导致船体姿态解算结果中出现阶跃跳变。本文在分析转轴方向误差与姿态解算误差之间的数学关系的基础上，提出了一种转轴方向的在线标定方法。利用转轴角编码器和惯性测量单元（IMU）的输出数据，解调出船体姿态信息，再根据解调所得到的转轴旋转前后船体姿态的误差，反解出转轴实际方向。通过对实际系统数据实验，验证了该方法的有效性。
재단축선전격광타라관도계통중，전축방향오차장도치선체자태해산결과중출현계약도변。본문재분석전축방향오차여자태해산오차지간적수학관계적기출상，제출료일충전축방향적재선표정방법。이용전축각편마기화관성측량단원（IMU）적수출수거，해조출선체자태신식，재근거해조소득도적전축선전전후선체자태적오차，반해출전축실제방향。통과대실제계통수거실험，험증료해방법적유효성。
In single-axis rotation inertial navigation system, shaft orientation error will lead to the step effect in the ship attitude result. We derived the mathematical relationship between the shaft orientation error and the ship attitude measurement error, and proposed an online shaft orientation calibration method based on the mathematical relationship. The output data of the shaft an-gle-encoder and the inertial measurement unit (IMU) was adopted to calculate the ship attitude, and then the real shaft orientation was calculated inversely according to the measured ship attitude error. Experimental results showed that this method can calibrate the shaft orientation in a high accuracy.