双轴旋转惯导旋转方式误差特性研究  

Researchon Dual Axis Rotation INS Error Characteristics in Different Rotation Ways

作　　者：何泓洋[1] 许江宁[1] 查峰[1] 李京书[1] 

机构地区：[1]海军工程大学导航工程系,湖北武汉430033

出　　处：《计算机仿真》2013年第5期4-8,共5页Computer Simulation

基　　金：国家自然基金(61104184);国家重大科学仪器开发专项(2011yq12004502)

摘　　要：在惯性导航系统定位精度优化问题的研究中,惯性导航系统在误差源作用下会产生误差。对于捷联惯导系统,常见误差源有陀螺和加速度计的常值飘移、随机游走,IMU的安装误差以及陀螺的刻度系数误差等。旋转调制可以抑制某些误差源对系统的影响,而调制效果主要由旋转方式决定。为研究双轴旋转惯导系统在不同旋转方式下的误差特性,推导了在不同旋转方案下的旋转矩阵表达式。分析了惯导系统在上述两种旋转方式以及在陀螺各常见误差源作用下的误差特性。考虑陀螺常见误差源,仿真了捷联惯导以及两种旋转方式下的双轴旋转惯导系统的位置误差模型。结果表明,在一定旋转方式下,双轴旋转惯导系统能够有效提高系统定位精度。Inertial navigation system can produce the calculating errors under the action of error sources. The common error sources of strap-down inertial navigation system are constant errors, random errors, IMU installation errors and gyro calibration factor errors, etc. Rotary modulation can restrain the influence of some error sources. Modulation effect depends on the rotate mode. For the study of error characteristics of dual axis rotation INS in differ- ent rotation ways, rotation matrix expression was deduced. The error characteristics in the above two ways and in common gyroscope error sources were analyzed. The simulation model with common error sources was established and the position error of SINS and dual axis rotation INS were simulated. The result shows that the effect of dual axle rota- ting INS is directly related to the rotation way and dual axle rotating INS can effectively improve the accuracy in cer- tain rotation ways.

关 键 词：双轴 旋转惯导 旋转方式 误差分析 

分 类 号：U666.1[交通运输工程—船舶及航道工程]