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在传统指北式惯导系统中,通过对东向陀螺仪施加连续恒定转动力矩,令平台坐标系绕其东向陀螺仪敏感轴进动,可对北向及天向惯性器件误差形成调制,抑制相关导航定位误差,达到提高平台惯导系统精度的目的。建立了沿平台系东向轴连续转动的指北式平台系统无阻尼情况下的导航机械编排方程及误差方程,分析了其静基座下的误差传播特性并进行了仿真验证。结果表明,同传统指北式导航方法相比,在不改变系统结构和惯性器件精度的前提下,系统中与北向及天向惯性器件误差相关的常值及随时间积累项被调制为零误差和常值误差、经度误差随时间发散趋势得到明显抑制,系统长时间定位精度得到明显改善。
In the traditional north-oriented Inertial Navigation System, by applying a constant constant rotational moment to the east-direction gyroscope and moving the platform coordinate system around the sensitive axis of its east-facing gyroscope, it can modulate the errors of the northward and theft inertial devices and suppress Related navigation and positioning errors, to achieve the purpose of improving the accuracy of platform inertial navigation system. The navigation mechanical arrangement equation and error equation under the condition of no damping are established for the northward platform system along the east axis of the platform. The error propagation characteristics under the static base are analyzed and simulated. The results show that, compared with the traditional north-oriented navigation method, the constant value and the time-dependent accumulation in the system with respect to the error of the northward and the coasting inertial devices are modulated into zero error without changing the accuracy of the system structure and inertial device And the constant error, longitude error divergence trend over time was significantly inhibited, the system long-term positioning accuracy has been significantly improved.