平台式惯导系统外水平阻尼状态的误差分析  

Error Analysis of Gimbaled INS in Exterior Horizontal Damp Model

作　　者：邓太光[1] 杨晓东[1] 

机构地区：[1]海军潜艇学院,山东青岛266042

出　　处：《电光与控制》2011年第11期96-100,共5页Electronics Optics & Control

摘　　要：分析了相对计程仪的误差特性,推导了惯导处于外水平阻尼状态时计程仪误差引起的惯导系统误差表达式,并分别讨论了舰船变速机动、变向机动和匀速直航时的惯导的误差特性,并对变速、变向机动和匀速直航条件下的惯导系统进行了仿真实验。结果表明计程仪的测量误差会造成机动条件下惯导系统的冲击误差。该冲击误差无稳态误差,超调时间为60～70 min;过渡过程的幅值与计程仪加速度误差的积分值成正比。匀速直航时,变化的海流会引起惯导系统误差。换流时刻发生超调,超调时间为90 min;过渡过程的幅值和海流最大流速成正比;稳态输出是和海流同周期的正弦波,稳态输出的幅值也与海流最大流速成正比关系。The error characteristics of relative log were analyzed.The expression of INS error when INS worked in exterior horizontal damp state was given.The characteristics of error were discussed when the ships was in maneuvering conditions of accelerating,turning and constant-velocity sailing.Simulation of INS in different maneuvering conditions was made,including uniform acceleration,uniform circular motion and constant-velocity sailing.The result showed that log error may lead to impulsive errors of INS while the ship is maneuvering.The impulsive error can lead to system overshoot without constant error,which lasts about 60 to 70 minutes.The amplitude of overshoot is linear with the integral of log＇s acceleration error.Inconstant ocean current can lead to INS errors,too.Overshoot occurs while flow direction changes,which lasts about 90 minutes.The amplitude of overshoot is linear with the maximum velocity of tide.The steady state is a sine wave with the same period of tide,whose amplitude is also linear with the maximum velocity of tide.

关 键 词：惯导 外水平阻尼 相对计程仪 误差分析 

分 类 号：V271.4[航空宇航科学与技术—飞行器设计]