潜用平台惯导陀螺漂移估计的新方法

摘要

为保证潜艇隐蔽性,满足高精度导航要求,设计了一种针对潜用平台惯导的陀螺漂移估计新方法.简要分析了陀螺漂移对惯导系统误差的影响；基于舒拉振荡周期,利用间断获得的外测信息建立惯导系统短时速度、位置误差模型并进行不确定度评估；采用Kalman滤波对陀螺漂移作了事后估计.仿真验证结果表明,建立的速度、位置误差模型可信度高.尽管该方法无法满足实时性要求,但可较为准确地估计出北向陀螺常值漂移以及水平误差失调角,有效抑制后续经度误差发散现象,提高了导航精度.%In order to ensure the disguise of submarine and satisfy high-accuracy navigation,design a new method for gyroscope drift estimation of submarine INS.Firstly,brief analysis the impact of gyroscope drift on INS error; Secondly,based on schuler oscillation,intermittent external references are acquired to establish the INS short-time velocity and position model,then do uncertainty evaluation; Lastly,delay estimate the gyroscope drift based on Kalman filter.Simulation result indicate that the velocity and position model have a high credibility,although real-time demand can not be satisfied,the method give a accurate estimation for north gyroscope drift and platform horizontal errors,restrain the position errors effectively,improve the navigation precision.