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针对双轴旋转惯导系统转位方案的设计问题,分析旋转式惯导系统自动补偿导航误差的本质,建立旋转式惯导系统误差模型,推导出初始对准状态方程和量测方程,提出16次序和32次序两种转位方案,在两种方案下对陀螺常值漂移引起的导航误差传播特性进行仿真分析,并对两种方案下的初始对准过程进行仿真。研究表明:与16次序转位方案相比,32次序转位方案能更好地补偿陀螺常值漂移引起的导航误差,初始对准过程中对天向陀螺常值漂移的估计精度更高,因此,32次序转位方案优于16次序转位方案。
Aiming at the design of the transposed scheme of biaxial rotating inertial navigation system, this paper analyzes the essence of the automatic compensation of the rotating inertial navigation system, and establishes the error model of the rotating inertial navigation system. The initial alignment state equation and the measuring equation are derived. Order and 32-order translocation scheme, the propagation characteristics of navigation errors caused by gyro constant drift are simulated and analyzed under the two schemes. The initial alignment process under the two schemes is simulated. The results show that compared with the 16-order translocation scheme, the 32-bit translocation scheme can better compensate the navigation error caused by the constant gyro drifting, and the accuracy of the estimation of the gyro gyroscopic drifts during the initial alignment is higher. Therefore, , 32 orders transcendence scheme is superior to 16 transposing scheme.