单轴旋转捷联惯导系统圆锥误差分析与仿真  

Coning error analysis and simulation of single-axis rotational strapdown inertial navigation systems

作　　者：丁鹏 程向红[1,2] 刘文倩 DING Peng;CHENG Xianghong;LIU Wenqian(Key Laboratory of Micro-inertial Instrument and Advanced Navigation Technology,Ministry of Education,Southeast University,Nanjing 210096,China;School of Instrument Science&Engineering,Southeast University,Nanjing 210096,China)

机构地区：[1]微惯性仪表与先进导航技术教育部重点实验室,南京210096 [2]东南大学仪器科学与工程学院,南京210096

出　　处：《中国惯性技术学报》2021年第1期28-34,共7页Journal of Chinese Inertial Technology

基　　金：国家自然基金项目(61773116)。

摘　　要：刚体的有限转动存在不可交换性,导致捷联惯导(SINS)在圆锥运动环境下进行导航解算时会产生圆锥误差。由于单轴旋转调制惯导(RINS)和纯捷联惯导(SINS)在圆锥环境下的运动模型不同,因此圆锥误差及其补偿效果也会发生相应改变。首先构建了单轴RINS在圆锥运动下的数学模型,其次分析了基于角速率的多子样旋转矢量算法下的不可交换性误差及圆锥误差补偿算法,然后研究了转位方案对单轴RINS中圆锥补偿项的影响,最后通过仿真验证理论分析。仿真结果表明,单轴RINS下的圆锥误差要大于SINS,采用四位置转停方案可明显降低圆锥误差,启停阶段的航向角误差比停转阶段的误差大3个数量级,基于角速率的四子样旋转矢量算法补偿精度高于其他子样算法1个数量级。单轴RINS圆锥误差分析与仿真为旋转调制惯导系统精度的提升提供了有益的参考。The noncommutativity of the finite rotation of the rigid body leads to the coning error in the navigation solution of strapdown inertial navigation system(SINS)under coning motion environment.Since the coning motion model of the single-axis rotary modulation inertial navigation system(RINS)is different from that of SINS,the coning error and its compensation effect will change accordingly.Firstly,the mathematical model of the single-axis RINS under coning motion is established.Secondly,the noncommutative error and compensation effect of multi-sample rotation vector algorithms based on angular rate are analyzed.Thirdly,the influence of the indexing scheme on the coning compensation of single-axis RINS is studied.Finally,the theoretical analysis is verified by simulation.The experimental results indicate that the coning error under the single-axis RINS is larger than that of the SINS,the four-position switch-stop scheme can significantly reduce the coning error,the heading error in the start-stop stage is three orders of magnitude larger than that in the stop stage,and the compensation accuracy of the four sample rotation vector algorithm based on angular rate is one order of magnitude higher than other sample algorithms.

关 键 词：单轴旋转惯导 多子样旋转矢量补偿 圆锥误差 转位方案 

分 类 号：U666.1[交通运输工程—船舶及航道工程]