旋转自动补偿捷联惯导系统技术研究  

Research on auto-compensation by rotation in strapdown inertial navigation systems

作　　者：孙枫[1] 孙伟[1] 

机构地区：[1]哈尔滨工程大学自动化学院,黑龙江哈尔滨150001

出　　处：《系统工程与电子技术》2010年第1期122-125,共4页Systems Engineering and Electronics

基　　金：国家自然科学基金(60775001;60834005)资助课题

摘　　要：利用旋转法补偿陀螺漂移是提高捷联惯导系统精度的有效途径之一。由于旋转的引入,惯性测量单元中陀螺的常值漂移将被调制成周期性信号,通过积分运算可以有效地消除常值陀螺的漂移影响。提出了一种新的单轴旋转调制方案,对该方案进行了理论推导、分析和仿真。与以往的单轴旋转方式及未采用旋转方式时的导航误差进行了比较,结果表明本方案可以消除所有方向上陀螺常值漂移的影响,从而大大提高位置和姿态精度。Using rotation to compensate gyro drift is an effective method to improve the accuracy of strapdown inertial navigation systems （SINS）. The constant drift of gyros in the inertial measurement unit （IMU） is translated into periodic signals by the use of rotation and can be eliminated by integration operation. A new single-axis rotation modulation scheme is proposed firstly. Then the proposed scheme is derived and analyzed theoretically, and a simulation experiment is demonstrated. The simulation results show that the presented scheme can effectively eliminate the effects of gyro constant drift in all directions compared with the conventional single-axis rotation method and non-rotation method, thus making an improvement in the accuracy of position and attitudes greatly.

关 键 词：捷联惯导系统 自动补偿 旋转调制 陀螺漂移 惯性测量单元 

分 类 号：U666.12[交通运输工程—船舶及航道工程]