长航时惯导系统的随机游走误差传播规律及抑制方法

角度随机游走（angle random walk, ARW）误差已成为制约长航时惯性导航系统精度的主要因素。为了减弱ARW对系统精度的影响,针对初始对准和长航时导航两个方面研究误差传播规律及抑制方法。仿真结果表明:ARW直接影响方位对准精度,在长航时的导航中,游走系数N所产生的速度振荡幅值与60N的常值漂移大致相当,姿态振荡误差中的24 h周期因素更为关键,ARW产生的经度误差发散项均方差随时间的平方根增长|系统可采用卡尔曼滤波削弱ARW所造成的对准误差,通过水平阻尼方法可以消除由ARW引起的位置误差中的振荡项。

Angle random walk error propagation and suppression methods in long-term inertial navigation system

The angle random walk(ARW) error is a significant limitation of the navigation performance in long-term inertial navigation system(INS).To weaken the impact of ARW on the system accuracy,its error propagation law and suppression methods are studied in two aspects: initial alignment and long-term navigation.Simulation results show that ARW directly affects the azimuth alignment accuracy,and during long-term navigation,the oscillation amplitude of velocity produced by ARW coefficient N is approximately equiva...