论文部分内容阅读
安装在单轴转位机构上的惯性测量单元(IMU),会因IMU坐标系与载体坐标系不重合而存在一定的倾斜角,此倾斜角会使得IMU在旋转过程中引入姿态误差,在很大程度上降低了系统的姿态输出精度。为了降低安装倾斜角对旋转式捷联惯导系统的影响,文章通过对旋转过程中因安装倾斜引起的姿态角误差进行了详细分析,然后运用实验和数据拟合的方法得出了倾斜角随转位机构变化的规律,最后对倾斜角产生的误差加以补偿。经仿真和实验验证表明,对倾斜角误差补偿后,单轴旋转式捷联惯性导航系统的水平姿态精度由原先的2°提高到0.05°范围以内,航向误差由原先的0.5°提高到0.005°,大大提高了旋转式捷联惯导系统的姿态精度,具有一定的工程应用价值。
The inertial measurement unit (IMU) mounted on a single-axis indexing mechanism will have a certain tilt angle due to the mismatch between the IMU coordinate system and the carrier coordinate system. This tilt angle will cause the IMU to introduce a posture error during rotation. To a large extent, reduce the attitude of the system output accuracy. In order to reduce the influence of the installation tilt angle on the rotating SINS, the paper analyzes the attitude error due to the installation tilt in the rotation process, and then uses the experimental and data fitting methods to get the tilt angle Translocation body changes in the law, the last error on the tilt angle to be compensated. Simulation and experimental results show that the horizontal attitude accuracy of single-axis rotary strapdown inertial navigation system is increased from 2 ° to 0.05 ° after the tilt angle error compensation, and the heading error increases from 0.5 ° to 0.005 ° , Greatly improving the attitude accuracy of the rotary strapdown inertial navigation system, and has certain engineering application value.