外场条件下旋转捷联惯导系统旋转轴不正交误差标定方法

摘要

旋转调制捷联惯导系统中,旋转轴不正交误差是最主要的转位机构误差,其对系统精度的不利影响十分显著.针对目前基于载体姿态变化的旋转轴不正交误差标定方法只适用于静基座条件的不足,提出了一种基于Kalman滤波的误差标定方法,可实现外场环境中存在晃动干扰条件下的不正交误差标定;根据误差模型建立了系统状态方程,并基于可观测度分析设计了标定路径.仿真及实验结果表明,该方法精度较高,可以实现外场角晃动干扰情况下,旋转轴不正交误差的高精度标定.%Rotating-axial nonorthogonal error is the major indexing mechanism error of rotation strapdown inertial navigation system (SINS), it has the most significant effect on system accuracy.Aming at the shortage that the rotating-axial nonorthogonal error calibrate method based on the change of carrier attitude can only applied to the stationary base, a calibration method based on Kalman filter is put forward to realize the calibration of nonorthogonal error under outfield conditions with rocking disturbances.State equations are established on the basis of the error model, and the calibration path is designed by the observability degree analysis.Simulations and experiments show that the calibration method is with high accuracy and can realize the high precision calibration of rotating-axial nonorthogonal error under outfield conditions with rocking disturbances.