恒速偏频/机抖激光陀螺惯导系统半实物仿真  

HILS of Constant-rate Biased/Dithered RLG Inertial Navigation System

作　　者：周跃诚 吴文启[1] 李云[1] 

机构地区：[1]国防科学技术大学机电工程与自动化学院

出　　处：《导航与控制》2015年第5期59-65,共7页Navigation and Control

摘　　要：提出一种恒速偏频/机抖激光陀螺惯导系统方案。用一个不随偏频机构旋转的机抖激光陀螺,改善恒速偏频激光陀螺惯导系统在偏频旋转轴方向的载体角速度测量精度。给出了偏频旋转轴方向等效陀螺采样值的计算方法和关键结构参数标校方法;分析了纯惯导的系统误差特性,在初始对准卡尔曼滤波模型中,增加了偏频旋转轴方向的陀螺漂移以及耦合偏差造成的等效北向陀螺漂移作为误差状态。恒速偏频/机抖激光陀螺惯导系统的半实物仿真实验结果表明:在静基座条件下,初始对准10min后,方位角收敛到10″(1σ)内;初始对准20min后,纯惯导4h,北向和东向位置误差最大值均小于200m。A scheme of constant-rate biased / dithered RLG inertial navigation system is proposed in this paper.To improve the measurement accuracy of the carrier angular velocity in the direction of the biased rotation axis of the constant biased RLG inertial navigation system,a dithered RLG not rotating with the bias mechanism is used.The calculation method of equivalent gyro sample values in the direction of the biased rotation axis and the calibration method of the key structural parameters are given.The systematic error characteristics of the pure inertial navigation are analyzed,in the Kalman filter model of the initial alignment,adding the gyro drift in the direction of the biased rotation axis and the north equivalent gyro drift caused by bias coupled as the error status.Loop simulation experimental results based on the constant-rate biased RLG/ dithered RLG inertial navigation system show that at a stationary base conditions,the azimuth angle converges to 10"(1σ) after 10 minutes initial alignment,and after 20 minutes initial alignment and 4 hours pure inertial navigation,the maximum value of the north and east position errors both can be less than 200 m.

关 键 词：惯性导航 激光陀螺 恒速偏频 机械抖动偏频 

分 类 号：TN96[电子电信—信号与信息处理]