光学陀螺旋转式惯导系统的安装误差效应分析

在光学陀螺惯导系统中，利用系统旋转自动补偿可以有效地减小惯性元件漂移对系统导航精度的影响，从而实现高精度、低成本的惯性导航要求。首先从光学陀螺旋转式惯导系统的误差传播方程出发，推导了系统中由于光学陀螺安装误差引起的数学平台角度误差表达式。以此为基础，分析了旋转式系统中的安装误差引起的误差效应及自动补偿安装误差所应满足的条件，为系统设计和精度分析提供了理论参考。

Mounting error analysis for rotating inertial navigation system with optical gyroscopes

Auto-compensation with system rotating can effectively decrease the influence of inertial sensing elements’ drift on the navigation accuracy of an inertial navigation system with optical gyroscopes, and this makes high performance and low-cost navigation possible. Formulae for the propagation of mathematical platform misalignment angles induced by mounting errors in rotating inertial navigation system with optical gyroscopes are deduced from the error propagation equation of the rotating inertial navigation system. On the basis of these formulae, analyses are made on the characteristics of navigation errors induced by mounting errors and conditions for the auto-compensation of mounting errors. These provide theoretical consults for the system design and performance analysis of the rotating inertial navigation system.