双轴连续旋转激光捷联惯导误差高精度补偿方法

摘要

为进一步提高旋转调制惯导系统的自补偿精度，对旋转调制激光捷联惯导系统误差补偿技术进行了研究。针对双轴转位调制补偿精度有限的问题，提出了一种新的双轴连续正反旋转调制方法。以激光陀螺仪为对象，通过理论分析确定了连续旋转调制内外框架的调制速率；然后在常值误差补偿及有害误差效应补偿机理分析基础上，设计了双轴连续最佳旋转方案，在有效补偿激光捷联惯导系统项误差的同时，抑制了旋转所带来的有害误差效应，实现了旋转激光捷联惯导系统误差的高精度补偿。仿真结果验证了方法的有效性。%In order to improve the accuracy of auto-compensation for a rotation-modulated strapdown inertial navigation system (RMSINS),some effective techniques to compensate the harmful error effects of a ring laser strapdown inertial navigation system are discussed.And then a new synchronous double-axis modulation method with periodic reversal is proposed,which resolves the limitation of the two-axis indexing scheme.At first the two gimbals angular rates are decided through analyzing in theory.Then the depression of error terms including the constant drift error and the harmful error effects are analyzed in detail,based on which,the best rotation scheme is designed through analyzing in theory and testing in simulation.In the method,the RMSINS’s con-stant drift error and the harmful error effects can be compensated at the same time.The simulation results show the effectiveness which lays a sound foundation for actual application of RMSINS.