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提出一种恒速偏频/机抖激光陀螺惯导系统方案。用一个不随偏频机构旋转的机抖激光陀螺,改善恒速偏频激光陀螺惯导系统在偏频旋转轴方向的载体角速度测量精度。给出了偏频旋转轴方向等效陀螺采样值的计算方法和关键结构参数标校方法;分析了纯惯导的系统误差特性,在初始对准卡尔曼滤波模型中,增加了偏频旋转轴方向的陀螺漂移以及耦合偏差造成的等效北向陀螺漂移作为误差状态。恒速偏频/机抖激光陀螺惯导系统的半实物仿真实验结果表明:在静基座条件下,初始对准10min后,方位角收敛到10″(1σ)内;初始对准20min后,纯惯导4h,北向和东向位置误差最大值均小于200m。
Proposed a constant speed bias / machine shake laser gyro inertial navigation system program. A machine-shake laser gyro that is not rotated with the frequency offset mechanism is used to improve the measurement accuracy of the carrier angular velocity in the direction of the offset frequency rotation axis of a constant-speed gyroscope inertial navigation gyroscope. The calculation method of the equivalent gyro sampling value in the direction of the rotational axis of the frequency offset and the calibration method of the key structural parameters are given. The system error characteristics of pure INS are analyzed. In the initial alignment Kalman filter model, The gyro drifts in the directions and the equivalent north-gyro drifts due to coupling deviations are used as error states. The experimental results of the semi-physical simulation of constant speed gyro / gyroscope inertial navigation system show that the azimuth converges to within 10 "(1σ) after the initial alignment for 10min under static base conditions. After the initial alignment for 20min, Pure inertial guidance 4h, the maximum value of the north and east position error is less than 200m.