旋转激光陀螺惯导系统误差传播特性分析

摘要

Understanding the mechanism of rotation modulation error auto-compensation and grasping the characteristic of front-to-back error propagating are the utmost important jobs for the design of a rotating inertial navigation system（INS）.Basing on these,a reasonable rotation scheme can be designed and verified by simulating and testing at the time.Combining with the working principle and error propagating equation of single-axis rotating INS,the mechanism of rotation modulation error auto-compensation was explained.By theory reasoning and mathematically simulating,inertial sensors＇ error propagating characteristics of constant errors,rand errors,scale errors and mount-errors were analyzed,and the effects of error modulation by using single-axis rotating INS for inertial sensors were obtained.All these results show that this rotation scheme is effective and feasible for INS.The studying results can offer both theory reference and design basis for the realization of the rotating laser gyroscope（LG） INS.%设计旋转式惯导系统（INS,Inertial Navigation System）最重要的工作是理清旋转调制误差自动补偿机理、掌握补偿前后误差的传播特性,在此基础上设计合理的转位方案,并对其进行仿真和试验验证.结合单轴旋转式惯导系统工作原理和误差传播方程,解释了旋转调制误差自动补偿的机理,利用理论和仿真两种手段分析了单轴旋转惯导系统中惯性元件常值误差、随机误差、标度因数误差和安装误差的传播特性,得到了旋转调制对惯性器件误差的调制效果,验证了单轴正反转停方案的有效性和应用的合理性.研究结果为旋转式激光陀螺（LG,Laser Gyroscope）惯导系统的设计提供了理论参考和设计依据.