捷联惯导系统尺寸效应误差及其补偿算法  

Size effect error and compensation algorithm of SINS

作　　者：周斌[1] 王巍[2] 

机构地区：[1]北京航天航空大学仪器科学与光电工程学院,北京100191 [2]北京航天控制仪器研究所,北京100854

出　　处：《中国惯性技术学报》2012年第6期631-634,共4页Journal of Chinese Inertial Technology

基　　金：总装预研项目(51309030103)

摘　　要：在捷联惯导系统中,陀螺和加速度计直接感测载体的角运动、线运动和干扰运动,由于载体角运动的影响,当三个加速度计测量质心与载体质心不重合时,将引起加速度计的测量误差(即尺寸效应误差)。对于中高精度的捷联惯导系统,当载体处于高动态情况下,尺寸效应误差已不能忽略,需要对其进行误差补偿。首先对加速度计组件在一般安装关系下的尺寸效应误差模型进行推导,然后提出一种新的利用陀螺输出角度增量信息和尺寸效应参数来计算加速度计尺寸效应误差的积分表达式,将其从加速度计输出速度增量中去除,即可完成尺寸效应误差补偿。最后通过仿真证明,新补偿算法产生的导航系统定位误差的舒拉周期振荡幅值明显减小,定位精度比补偿前提高了5-6倍左右。In strapdown inertial navigation system,the gyroscopes and accelerometers directly sense the carrier＇s angular motion,line movement and disturbance movement.When the centroid of three accelerometers does not coincide with the centroid of carrier,the impact of the carrier angular motion may cause the acceleration＇s measurement error.For high-and medium-precision SINS,the error of size effect can not be ignored and needs to be compensated when the carrier is in high dynamic situation.In this paper,the error model of the accelerometer size effect was derived,and a new integral expression for size effect error was proposed which was composed of the gyro output angle increment and the size effect parameters.Only by removing it from the accelerometer speed increment output,can we complete the compensation of the size effect error.The simulation shows that the Shula periodic oscillation amplitude of navigation system positioning error decreases significantly by using the new compensation algorithm,and the positioning precision has improved 5-6 times compared with that before compensation.

关 键 词：捷联惯导系统 尺寸效应误差 误差模型 双子样补偿算法 

分 类 号：V249.3[航空宇航科学与技术—飞行器设计]