Error auto-compensation technology of inertial navigation system based on double-axis rotation
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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.
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