摘要:
利用惯性测量组件(IMU)的周期性旋转自动补偿光学陀螺的漂移是实现捷联惯导系统高精度、长航时的有效途径之一。本文阐述了影响单轴旋转式惯导系统的误差效应，分析了单轴旋转方案设计的关键因素，并针对传统四位置单轴转位方案在静态情况下水平方向上的常值漂移误差抵消不完全的问题，提出了一种改进的四位置单轴转位方案，通过计算机仿真比较了自补偿前后两种方案下惯导系统的导航误差(位置、姿态误差)，结果表明采用旋转自补偿技术可以克服惯性元件的静态误差，经改进的四位置转位方案更是大大提高了导航输出的位置和姿态精度。
Abstract:
Using the periodic rotation of inertial measurement unit to compensate the drift of optical gyros-cope automatically is one of the effective ways to realize the high accuracy and long-distance na-vigation of strapdown inertial navigation system. This paper expounds the error effect of the sin-gle-axis rotary inertial navigation system, analyses the key factors of its design, and aims at the constant drift of the traditional four-position single-axis rotation in the horizontal direction under static conditions. A modified four-position single-axis rotation direction is proposed to eliminate the incomplete errors. The navigation errors (position and attitude error) of the INS are compared by computer before and after self-compensation. The results show that the static errors of inertial compents can be overcome by using rotation self-compensation technology and the accuracy of position and attitude is improved greatly by modified four-position rotation scheme.