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Abstract：
The current new type of inertial navigation system, including rotating inertial navigation systems and three-autonomy inertial navigation systems, has been increasingly widely applied. Benefited by the rotating mechanisms of these inertial navigation systems, alignment accuracy can be significantly enhanced by implementing IMU (Inertial Measurement Unit) rotation during the alignment process. The principle of suppressing initial alignment errors using rotational modulation technology was investigated, and the impact of various component error terms on alignment accuracy of IMU during rotation was analyzed. A corresponding error suppression scheme was designed to overcome the shortcoming of the significant scale factor error of fiber optic gyroscopes, and the research content of this paper is validated through corresponding simulations and experiments. The results indicate that the designed alignment scheme can effectively suppress the gyro scale factor error introduced by angular motion and improve alignment accuracy.
摘要：
当前新型的惯性导航系统,包括旋转惯性导航系统和三自主惯性导航系统，得到了越来越广泛的应用。受益于这些惯性导航系统的旋转机制，通过在对准过程中实施IMU(惯性测量单元)旋转,可以显著提高对准精度。研究了利用旋转调制技术抑制初始对准误差的原理,分析了旋转过程中各分量误差项对IMU对准精度的影响。设计了相应的误差抑制方案,克服了光纤陀螺尺度因子误差大的缺点,并通过相应的仿真和实验对本文的研究内容进行了验证。结果表明,所设计的对准方案能有效抑制角运动引起的陀螺比例因子误差,提高对准精度。
