冗余旋转惯导系统两位置初始对准方法

冗余旋转惯导系统(Redundant Rotating Inertial Navigation System, RRINS)可以在传统旋转惯导系统的基础上，进一步提高系统的可靠性。针对该类系统高精度初始对准需求，以正四面体冗余旋转惯导系统为例，研究了两位置初始对准方法。首先以每3个陀螺仪和3个加速度计构成一种组合方式，建立每种组合下惯性器件的零偏与冗余配置相关的解析表达式，并设计RRINS两位置转停方案以估计对应惯性器件的零偏，但是在某些特殊的情况下需要增加观测位置；然后将每个惯性器件在不同组合下得到的结果取均值，并利用该均值对相应惯性器件的测量信息做补偿；最后基于补偿后的惯性器件输出进行RRINS的初始对准。数学仿真和实验验证结果表明，该方法在不同两位置方案下均可有效估计出惯性器件的零偏。仿真中陀螺仪的零偏估计误差在4%以内，加速度计的零偏估计误差基本在2%以内，且相比无零偏补偿的情况，初始对准精度提高10倍以上。实验中水平和方位向的初始对准精度都有提高，航向角对准误差最大减小100倍左右。同时，该方法还可以推广到其他配置方案的冗余旋转惯导系统中，对该类惯导系统初始对准精度的提高具有...

Two-position initial alignment method for redundant rotating inertial navigation system

Redundant Rotating Inertial Navigation System (RRINS) can further improve the reliability of the system on the basis of traditional rotating inertial navigation system. Aiming at the high-precision initial alignment requirements of this type of system, A two-position initial alignment method was studied by taking the regular tetrahedral redundant rotating inertial navigation system as an example. Firstly, every three gyroscopes and three accelerometers constituted a combination. The zero bias correlation and redundancy configuration of the inertial device under each combination were established. And the RRINS two-position stop scheme was designed to estimate the zero bias of the corresponding inertial device. But in some special cases, the observation position needs to be increased. Then, the results obtained by each inertial device under different combinations were averaged, and the average value was used to compensate the measurement information of the corresponding inertial device. Finally, based on the compensated inertial device output performs the initial alignment of the RRINS. Mathematical simulation and experimental verification results show that the method can effectively estimate the zero bias of the inertial device under different two-position schemes. In the simulation, the bias estimation error of the gyroscope is within 4%, and the bias estimation error of the accelerometer is basically within 2%. Compared with the case without bias compensation, the initial alignment accuracy is improved by more than 10 times. In the experiment, the initial alignment accuracy in both horizontal and azimuth directions was improved, and the heading angle alignment error was reduced by about 100 times. At the same time, the method can also be extended to redundant rotating inertial navigation systems with other configuration schemes, which has certain reference significance for improving the initial alignment accuracy of such inertial navigation systems.