水下平台惯导惯性器件误差高精度估计算法

为满足高精度导航及隐蔽性要求，基于方位旋转技术，给出了针对水下平台惯导系统惯性器件(inertial measurement unit, IMU)误差无阻尼估计算法。首先分析了状态转换对固定指北式平台惯导系统的影响；其次利用Laplace变换，求解了方位旋转式平台惯导系统误差；然后基于舒拉振荡和平台旋转周期，利用间断获得的外测信息建立系统短时速度、位置误差模型并作不确定度评估；最后采用Kalman滤波对惯性器件误差作了事后估计。仿真结果表明，建立的速度、位置误差模型可信度高，算法可准确估计出东、北向陀螺常值漂移以及加速度计零位偏置，有效抑制导航误差发散，提高导航精度。

High accuracy estimation algorithm for IMU error of under water INS

In order to satisfy the requirement of high-accuracy navigation and invisibility, based on platform rotating, the undamped method for the inertial measurement unit (IMU) error estimation of the submarine inertial navigation system is designed. Firstly, the impact of state transform on INS is analyzed. Secondly, based on Laplace transform, the impact of IMU error on azimuth rotating INS is analyzed. Thirdly, based on Schuler and platform rotating oscillation, intermittent external references are acquired to establish the INS short-time velocity and position model, then the uncertainty evaluation is given. Finally, an IMU error is estimated based on Kalman filter. Simulation results indicate that the velocity and position model has a high credibility; although real-time demand cannot be satisfied, a accurate estimation for IMU errors is given, the position errors are restrained effectively, and the navigation precision is improved.