引 言 惯性制导系统能自主地产生飞行器的位置、速度和姿态角等各种参量。测量值是飞行器相对惯性空间的线运动和角运动的数据。最早用于控制和稳定飞行器角运动的陀螺装置可以看做是惯性制导系统的前身。这些装置没有外部的校正只能在很短的时间里独立地工作。现代复杂系统采用了陀螺、加速度表和计算装置,能在足够长的时间内自主地产生飞行器的位置、速度和姿态角等参量。 INTRODUCTION Inertial guidance systems autonomously generate various parameters such as position, velocity and attitude angles of an aircraft. The measured values ​​are the data of the line and angular movements of the relative inertial space of the aircraft. The earliest gyroscopes used to control and stabilize the angular motion of aircraft can be considered as the predecessor of the inertial guidance system. These devices can work independently for a short period of time without external calibration. Modern, sophisticated systems employ gyroscopes, accelerometers and computing devices that autonomously generate parameters such as position, velocity and attitude angles of the aircraft for a sufficiently long period of time.