方位保持仪姿态误差补偿技术

给出了陆用惯性导航系统方位保持仪的误差补偿方法.在方位保持仪纵轴和横轴方向安装2个互相垂直的加速度计,测量载体的俯仰角和横滚角,采用多组坐标变换将姿态角、地球自转角速度和重力分别投影到陀螺坐标系,结合动力调谐陀螺仪漂移与重力相关的特性,分析了与重力一次项相关的漂移分量,分别从支架误差、地球自转分量和陀螺仪与重力相关漂移3个方面对方位保持仪进行误差补偿.实验结果表明,采用上述方法进行误差补偿的方位保持仪,漂移小于0.06°/h.

Error Compensation of an Azimuth Holding System

Methods of error compensation for azimuth holding system in an INS (inertial navigation system) are presented. Two mutual orthogonal accelerometers are put in the azimuth holding system measuring the pitching angle and rolling angle. The attitude, angular velocity of the earth rotation and gravity are projected to the gyro coordinate system. According to the DTG (dynamically tuned gyro) that is drift sensitive by gravity, the azimuth holding system is compensated from bracket error, earth rotation and gyro drift associated to gravity. The results show that the drift of the azimuth holding system using the above methods is less than 0.06°/h.