载体初始姿态对单轴旋转惯导误差传播的影响  

Effect of Carrier Initial Stance of Single Axis Rotating INS Error Propagation

作　　者：徐志浩 周召发 郭琦 徐梓皓 常振军 XU Zhihao;ZHOU Zhaofa;GUO Qi;XU Zihao;CHANG Zhenjun(State Key Subject Laboratory of Weapon Launching Theory and Technology,Rocket Force University of Engineering,Xi’an 710025,China;No.96902 Unit,Beijing 100000,China)

机构地区：[1]火箭军工程大学兵器发射理论与技术国家重点学科实验室,西安710025 [2]96902部队,北京100000

出　　处：《弹箭与制导学报》2020年第3期87-92,共6页Journal of Projectiles,Rockets,Missiles and Guidance

基　　金：国家自然科学基金(41174162)资助。

摘　　要：惯导系统的旋转调制技术实质上是一种误差自补偿技术。为了研究载体初始姿态对单轴旋转惯导系统误差传播特性的影响,建立了旋转式捷联惯导系统的误差模型,推导了静基座条件下的捷联惯导系统误差传播方程,得到了惯性器件等效常值误差与系统误差的函数关系,分析了单轴连续旋转时陀螺常值漂移的调制形式及其对系统误差的影响并设计了任意初始姿态时的仿真试验。得出结论:载体调至水平状态时旋转调制效果最优。The rotational modulation technology of INS is essentially a self-compensation technology for errors.In order to study the influence of initial attitude of carrier on error propagation characteristics of uniaxial rotating inertial navigation system,the error model of the rotary strapdown inertial navigation system was established,and the error propagation equation of strapdown inertial navigation system on stationary base was derived.The functional relationship between the equivalent constant error of inertial devices and the system error was obtained.The modulation form of constant drift of gyroscope and its influence on system error during uniaxial continuous rotation were analyzed,and the simulation experiment of any initial attitude was designed,and draws the conclusion:when the carrier is adjusted to the horizontal state,the effect of rotation modulation is the best.

关 键 词：单轴旋转 捷联惯导 误差传播特性 常值漂移 

分 类 号：TJ765.1[兵器科学与技术—武器系统与运用工程] TN96[电子电信—信号与信息处理]