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本文提出一种把平台式和捷联式惯导系统结合在一起的新的惯性导航系统。在该系统中使用的速率方位平台没有方位稳定回路、方位坐标分解器及同步器。平台和运载器的方位角是根据由水平环架支承的方位速率陀螺讯号借助积分运算得到的。这种惯导系统适用于运输机、飞航式及弹道式导弹等不作大角度俯仰机动的运载器。文中叙述了方位速率平台的工作原理、力学编排方程、初始对准的特点以及陀螺漂移的标定和补偿;同时对各主要误差源所引起的姿态、速度和导航定位误差的传播特性进行了模拟计算。在结论中指出:平台的结构简单、体积小、重量轻、可靠性好、可对方位陀螺的漂移进行标定和补偿是其独特优点。另外,如果利用专门的光学系统,配合已知地标的方位角和纬度,不仅能够实现快速对准,而且还可进行水平陀螺的标定和补偿。
This paper presents a new inertial navigation system that combines a platform-based and a strapdown inertial navigation system. The azimuth platform used in this system has no azimuth stabilized loop, azimuth coordinate resolver and synchronizer. The azimuth angle of the platform and the carrier is calculated by means of integral operation based on the azimuth rate gyro signal supported by the horizontal ring. This inertial navigation system is suitable for transport aircraft, flight and ballistic missiles and other vehicles do not make high-angle pitch maneuver. The paper describes the working principle of the azimuth velocity platform, the mechanics choreography equation, the characteristics of the initial alignment and the calibration and compensation of the gyro drift. At the same time, the propagation characteristics of the attitude, velocity and navigation positioning errors caused by the major error sources are simulated . In conclusion, it is pointed out that the platform has the advantages of simple structure, small size, light weight and good reliability, and can calibrate and compensate the drift of the azimuth gyroscope. In addition, the use of specialized optical systems, coupled with the known azimuths and latitudes of the landmarks, not only enables rapid alignment, but also enables horizontal gyros calibration and compensation.