IMU角变速运动对旋转式SINS定位精度影响分析  

Influence of IMU Angle Variable Motion on Positioning Accuracy of Rotary SINS

作　　者：刘适 王世安 刘兴章[3] 张义[4,5] 杨祥龙 

机构地区：[1]哈尔滨工程大学自动化学院,哈尔滨150001 [2]海军驻沈阳地区军事代表局,沈阳110000 [3]海军驻大连地区军事代表室,辽宁大连116000 [4]北京航天自动控制研究所,北京100854 [5]宇航智能控制技术国家重点实验室,北京100854

出　　处：《弹箭与制导学报》2014年第4期19-24,共6页Journal of Projectiles,Rockets,Missiles and Guidance

基　　金：国家自然科学基金(51179039)资助

摘　　要：针对旋转式捷联惯导中惯性测量单元(IMU)旋转角速度变化过程(以加减速过程为主)对系统定位精度的影响进行分析和研究。建立了基于地理坐标系下的角变速过程的运动模型,并以此为基础推导了旋转运动抵消等效陀螺漂移误差的基本原理。结合在工程中普遍使用的单轴四位置八次序转停方案,详细分析了IMU加减速过程对捷联惯导系统定位精度的影响。在理论分析的基础上利用仿真试验比较了不同加减速旋转方案的定位误差,仿真结果验证了角变速运动能够显著影响旋转式捷联惯导系统的定位精度。The influence of inertial measurement unit （IMU） rotary angular velocity variation on positioning accuracy of strapdown inertial navigation system （SINS） was studied. Angle variable motion model was established in geographic coordinate system. Then, the basic principles that equivalent gyro drift errors were compensated by rotary motion were derived. Combined with the widespread single-axis 4-position and 8-order rotation-stop scheme, the effect of acceleration and deceleration of IMU on positioning accuracy of SINS was analyzed in detail. Simulations based on theoretical analysis were carried out. Finally, the positioning errors of rotation schemes with different acceleration and deceleration were compared by simulation tests, the results verified that the accuracy of the rotary SINS was apparently impacted by angle variable motion.

关 键 词：捷联惯导系统 惯性测量单元 单轴旋转 角变速运动 

分 类 号：TJ765[兵器科学与技术—武器系统与运用工程] V249.322[航空宇航科学与技术—飞行器设计]