Error auto-compensation technology of inertial navigation system based on double-axis rotation
-
摘要: 针对陀螺漂移影响惯导系统长时间导航精度的问题,提出了一种基于双单元体结构的误差自补偿方案.通过单元体的连续正反旋转,可以实现对所有方向上陀螺常值漂移的调制,从而大幅提高惯导系统的精度.对常值漂移、刻度系数误差、安装误差和角度随机游走等主要误差源的误差特性进行了分析,同时讨论了旋转机构精度对系统调制性能的影响.利用自行研制的双轴旋转调制式激光捷联惯导系统进行了多次海上试验,试验结果表明该方案可行,在不改变惯性器件精度的前提下,可提高系统精度一个量级以上.Abstract: To solve the problem that the gyro drift decreased the long-time navigation accuracy, a new auto-compensation scheme with double units was put forward. The constant gyro drifts could be modulated in all directions by continuous rotation, so as to improve the accuracy of the inertial navigation system greatly. The error characters of system errors were analyzed, such as constant gyro drift, scale coefficient error, installation error and angle random walk. The influence of rotating mechanism precision on the modulation performance was also demonstrated. Multiple sea tests were operated by the double-axis rotary laser strapdown inertial navigation system which was self-developed. The results show that the scheme is efficient and the accuracy of the system can be improved by one order of magnitude while the precision of the inertial components is unchanged.
-
[1] Lahham J I,Wigent D J,Coleman A L.Tuned support structure for structure-borne noise reduction of inertial navigation with dithered ring laser gyros //Proceeding of the IEEE Position Location and Navigation Symposium. San Diego,CA: IEEE Press,2000:419-428 [2] Lahham J I,Brazell J R. Acoustic noise reduction in the MK49 ship-s inertial navigation system(SINS) //IEEE Position Location and Navigation Symposium. Monterey,CA: IEEE Press,1992:32-39 [3] Tucker T,Levison E.The AN/WSN-7B marine gyrocompass navigator //ION NTM 2000. Anaheim,CA: 2000:348-357 [4] 袁保伦,饶谷音.光学陀螺旋转惯导系统原理探讨[J].国防科技大学学报,2006,28 (6):76-80 Yuan Baolun,Rao Guyin.On the theory of optical gyro rotating inertial navigation system[J].Journal of National University of Defense Technology,2006,28 (6):76-80(in Chinese) [5] 龙兴武,于旭东,张鹏飞,等.激光陀螺单轴旋转惯性导航系统[J].中国惯性技术学报,2010,18 (2):149-153 Long Xingwu,Yu Xudong,Zhang Pengfei,et al.Single rotating inertial navigation system with ring laser gyroscope[J].Journal of Chinese Inertial Technology,2010,18(2):149-153(in Chinese) [6] 陆志东,王晓斌.系统级双轴旋转调制捷联惯导误差分析及标校[J].中国惯性技术学报,2010,18 (2):135-141 Lu Zhidong,Wang Xiaobin.Error analysis and calibration of systematic dual-axis rotation-modulating SINS[J].Journal of Chinese Inertial Technology,2010,18(2):135-141(in Chinese) [7] 秦永元.惯性导航[M].北京:科学出版社,2006:69-72 Qin Yongyuan.Inertial navigation[M].Beijing:Science Press,2006:69-72(in Chinese) [8] Adams G,Gokhale Dr M.Fiber optic gyro based precision navigation for submarines //AIAA Guidance,Navigation,and Control Conference and Exhibit．Denver,CO,United States: ,2000:2-6 -
点击查看大图
计量
- 文章访问数: 2595
- HTML全文浏览量: 207
- PDF下载量: 551
- 被引次数: 0
下载:
