捷联惯导惯性系对准误差分析

摘要

针对捷联惯导晃动基座下惯性系粗对准两种不同的计算方法，分析了由陀螺常值漂移和加速度计零偏引起的漂移误差（即平台失准角）、刻度误差和歪斜误差，并推导了这些误差项与惯性元件误差之间关系的解析表达式。结果表明：两种惯性系对准算法的平台失准角具有相同的极限精度，并且与传统解析对准法的精度一致；惯性系对准法的歪斜误差很小可以忽略，但需对姿态阵正交化以消除刻度误差的影响。%This paper discusses the errors in analytic coarse alignment with two different calculating methods when the inertial frame for SINS is on the swaying base,analyses the drift errors (misalign-ment angles),scale errors,and skew errors caused by the gyro drift and accelerometer bias,and de-rives the analytic expression of the relationship between inertial instrument errors and alignment er-rors.The results show that both the misalignment angles of the two proposed methods have the same ultimate alignment value as the traditional analytical alignment.The skew errors of the proposed methods are so small that they could be negligible,but the attitude matrix must be orthogonalized to eliminate the effects of the scale errors.