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在传统指北式平台惯性导航系统中,通过对东向陀螺仪施加连续恒定转动力矩,可对北向及天向惯性器件常值误差形成自动补偿效应,达到提高平台惯性导航系统精度的目的。但是,由于受到旋转调制角速率的激励,惯性器件安装误差和刻度系数误差对系统性能的影响可能增大,甚至是关键影响。本文对东向旋转调制式平台惯导系统中安装误差、刻度系数误差和机械陀螺仪一次项漂移这3种误差源的误差传递关系进行了分析及误差仿真,对影响较大的误差因素进行了辨识。结果显示,东向旋转调制可自动补偿部分安装误差及刻度系数误差,但存在不可调制误差以及由于整流效应造成的直流误差量。同传统指北式导航系统相比,陀螺仪一次项漂移、加速度计安装误差及刻度系数误差的影响可在统计意义上得到一定抑制,而陀螺仪安装误差和刻度系数误差在旋转调制角速率的激励下对系统性能的影响明显增大。总体上看,经过对关键误差源的精确标定后,上述误差源不会对系统导航定位性能造成关键性影响,验证了东向旋转调制平台惯导技术方案的可行性。
In traditional north-facing platform inertial navigation system, by applying a constant constant rotational moment to the east gyroscope, an automatic compensation effect can be formed on the constant errors of the north and the day inertial devices to improve the accuracy of the platform inertial navigation system. However, due to the angular rate of rotation modulation, the influence of inertial device mounting error and scale factor error on the system performance may be increased, even critical. In this paper, the relationship between error transmission of three kinds of error sources such as installation error, scale factor error and mechanical gyro one-term drift in the Inertial modulation system is analyzed and the error simulation is carried out. Recognition. The results show that the eastward rotation modulation can automatically compensate for part of the installation error and scale factor error, but there are non-modulation errors and DC error due to the rectification effect. Compared with traditional north-pointing navigation system, gyroscope’s primary term drift, accelerometer installation error and scale factor error can be restrained in a statistical sense. However, the error of gyroscope installation and the error of scale coefficient are different between the rotational modulation angular velocity Incentives on the system performance significantly increased. Overall, after the accurate calibration of the key error sources, the above error sources will not have a crucial impact on the system navigation and positioning performance, and the feasibility of the Inertial Navigation Technology Scheme for the eastward rotation modulation platform is verified.