捷联惯导系统内水平阻尼网络及算法研究

工作在纯惯性状态的捷联惯导系统存在周期性振荡误差，严重制约了系统的导航精度。基于三阶罗经对准网络，结合内水平阻尼网络选取原则，严格按照主导极点配置法要求，提出了一种新的阻尼参数选取方法，在此基础上设计了一种简单且普适性强的双线性变换内水平阻尼离散化算法。动态仿真实验验证了该种参数选取方法的可行性，同时也验证了离散算法的正确性。大量实际静态实验表明:设计的内水平阻尼网络和离散化算法可以有效地阻尼捷联惯导系统的舒勒周期振荡误差，提高系统导航精度。

Inner damping network and algorithm research of horizontal loop in SINS

The error of SINS without damping behaves evident cycle, seriously restrict the navigation accuracy. Based on three-order compass loop, strictly observe the demands of pole placement method, a new method of damping parameters selection was presented. A simple inner damping algorithm with high universality, based on the selective damping parameters and using bilinear transformation, was proposed. The feasibility of damping parameters selection method was verified by dynamic simulation experiments, the same as the veracity of inner damping algorithm. Massive static state experiments show that the algorithm and damping network parameters used in this paper can effectively eliminate Schuler oscillations errors, improve the navigation accuracy.