旋转调制式激光捷联惯导安装误差分析与标定  

Research on installation error analysis and calibration for LSINS based on rotation modulation

作　　者：杨国梁[1] 王玮[1] 徐烨烽[1] 冯培德[1] 

机构地区：[1]北京航空航天大学,北京100191

出　　处：《仪器仪表学报》2011年第2期302-308,共7页Chinese Journal of Scientific Instrument

基　　金：航空科学基金(20080851020);中航工业技术创新基金(技字【2009】32号)资助项目

摘　　要：双轴旋转调制技术可以实现对陀螺漂移和加计零偏的调制,从而极大地提高惯导系统的精度,以满足船用惯导高精度的导航需求。由于单元体一直作连续正反旋转运动,传统的位置法和速率法无法对该系统进行标定。提出了一种基于三轴转台和单元体自旋转的误差标定方案,实现了对系统误差的快速精确标定。其中旋转轴和陀螺及加计敏感轴间的不正交角标定精度优于1,″陀螺、加计敏感轴间的不正交角标定精度优于2″。海上试验表明,误差标定结果满足了系统1 nm ile/24 h的导航要求,具有较高的工程应用价值。Gyro drift and accelerometer bias can be eliminated using biaxial rotation modulation,which can greatly improve the precision of inertial navigation system and meet the requirement of high precision marine navigation.Traditional method is inapplicable due to the continuous rotation of the unit in forward and backward directions.To solve the problem,a novel error calibration scheme is proposed based on three-axis turntable and unit rotation,which realizes the calibration of the prototype system using RLGs（ring laser gyro）.The precision of the non-perpendicular angle between sensing axis of inertial sensor and rotation axis of the unit is less than 1″,and the precision of the non-perpendicular angle between sensing axes of gyro and accelerometer is less than 2″.Ship experiment results indicate that the proposed error calibration scheme meets the navigation requirement of 1 nmile/24 h,hence has great value in engineering practice.

关 键 词：旋转调制 误差标定 误差补偿 

分 类 号：V249.32[航空宇航科学与技术—飞行器设计]