捷联惯导系统尺寸效应分析与补偿  

Analysis and compensation for size effect of strapdown inertial navigation system

作　　者：谢波[1] 秦永元[1] 万彦辉 师为健 

机构地区：[1]西北工业大学自动化学院,西安710072 [2]航天第十六研究所,西安710100

出　　处：《中国惯性技术学报》2012年第4期414-420,共7页Journal of Chinese Inertial Technology

基　　金：总装十一五国防预研课题项目(51309060401)

摘　　要：尺寸效应误差是捷联惯导系统一个重要误差源。从理论上分析了尺寸效应误差的产生机理和对系统精度的影响。在此基础之上,采用多项式拟合法推导出了尺寸效应误差双子样补偿算法,并且根据尺寸效应误差的产生原因和规律,提出了尺寸效应误差参数速率标定方法。理论分析和实验结果表明,尺寸效应误差是系统在角运动条件下由于系统本身物理结构所形成的固有误差,在对其进行补偿时应当采取硬件设计和软件算法补偿相结合的方式;采用双子样补偿算法对加速度测量进行尺寸效应误差补偿,补偿前加速度测量误差最大可达0.06g,而补偿后小于1×10-4g,水平定位误差也降低10%左右。The size effect error is the most importation error source of strapdown inertial navigation system （SINS）. In this paper, the mechanism and effect on the system precision of the size effect error were analyzed in theory. Based on this, a two-sample compensation algorithm for the size effect error was deduced by using polynomial approximation. Besides, the rate calibration method of size effect error parameters was proposed according to the reason and regularity of the size effect error. Theoretical analysis and experiment results show that the size effect error is the system＇s inherent error formed by its physical structure when with angular motion, and its compensation should adopt both hardware design and software algorithm. By using the two-sample compensation algorithm, the accelerometer＇s size effect error is reduced from 0.06g to 1 × 10^（-4）g, and the horizontal positioning error is reduced by about 10%.

关 键 词：捷联惯导系统 尺寸效应 双子样补偿算法 速率标定 

分 类 号：U666.1[交通运输工程—船舶及航道工程]