旋转惯导姿态误差补偿方法分析  

Analysis of the attitude compensation methods for rotation modulation inertial navigation system

作　　者：张永宾[1,2] 颜苗 王太勇[1] 李德春[2] 孙伟强[2] ZHANG Yongbin;YAN Miao;WANG Taiyong;LI Dechun;SUN Weiqiang(School of Mechanical Engineering,Tianjin University,Tianjin 300354,China;Tianjin Navigation Instrument Research Institute,Tianjin 300131,China)

机构地区：[1]天津大学机械工程学院,天津300354 [2]天津航海仪器研究所,天津300131

出　　处：《舰船科学技术》2024年第20期148-152,共5页Ship Science and Technology

摘　　要：旋转惯导能够实现误差自补偿,从而提高系统导航精度。但旋转惯导中的旋转结构较为复杂,存在轴系的非正交误差、测角误差等,导致姿态输出随着旋转而发生波动,影响着惯导姿态解调输出的精度。针对惯导姿态误差补偿方法,选取4种常用的拟合补偿方法进行讨论,并结合实际采集数据,进行试验比对与分析,为后续工程应用提供参考。Rotation modulation inertial navigation system can realize the compensation of the errors,thus to improve the position accuracy of the navigation system.Own to the complex rotated structure,the non-orthogonal error and angle measurement error,etc.,are unavoidable,which lead to the output of the attitude will be fluctuating with the rotation,and further affect the inertial demodulation accuracy of the attitude.To introduce the inertial attitude compensation methods,four fitting methods are selected to be discussed,and the experiment is conducted to compare and analyze different algorithms with the collected data,which can provide reference for the subsequent engineering application.

关 键 词：单轴 旋转惯导 姿态误差补偿 

分 类 号：U666[交通运输工程—船舶及航道工程]