某型舰载单轴旋转调制捷联惯导姿态角误差修正方法  

Attitude error correction method for a shipboard single-shaft rotation modulation SINS

作　　者：周海渊[1] 潘良[1] 赵李健[1] 王前学[1] 

机构地区：[1]中国卫星海上测控部,江阴214431

出　　处：《中国惯性技术学报》2015年第2期156-159,共4页Journal of Chinese Inertial Technology

摘　　要：某型舰载单轴旋转调制捷联惯导在航天远洋测量船进行了搭载试验,以成熟的某型平台式惯性导航系统为基准进行了性能比对分析,数据处理发现两者姿态角之差伴随着捷联惯导单轴旋转调制的角度存在较为明显的阶梯现象。捷联惯导数据误差源分析结果表明,单轴旋转平台不水平是引起上述现象的根本原因。针对上述情况,构建姿态角误差补偿数学模型,采用最小二乘拟合方法对相关系数进行了计算并修正了阶梯现象,最后采用随机数据对建模结果进行了再次验证。研究结果表明基于最小二乘拟合的修正方法,消除了旋转平台不水平对单轴旋转调制捷联惯导姿态数据的影响,为后续设备的改进提供了方向。A ship-borne single-shaft rotary modulation SINS was tested on an aerospace oceangoing survey ship. By compared with a mature platform inertial navigation system, the data processing shows that the attitude errors have stepped behavior which is correlated with the SINS single-axis rotary modulation angle. The analysis on the error source of SINS data shows that it is due to the single-shaft rotary platform＇s non-level. Then an attitude angle error compensation mathematical model is constructed, the correlation coefficient is calculated based on least square method, and the step phenomenon is corrected. Finally, the model is re-verified by using the random data. Experiment results show that the proposed method can eliminate the influence of single-shaft rotary platform＇s non-level on the SINS attitude data, which provides a new way to improve the equipment＇s performance.

关 键 词：捷联惯导 单轴旋转调制 阶梯效应 姿态修正 最小二乘方法 

分 类 号：U666.1[交通运输工程—船舶及航道工程]