旋转自动补偿捷联惯导系统技术研究

利用旋转法补偿陀螺漂移是提高捷联惯导系统精度的有效途径之一。由于旋转的引入，惯性测量单元中陀螺的常值漂移将被调制成周期性信号，通过积分运算可以有效地消除常值陀螺的漂移影响。提出了一种新的单轴旋转调制方案，对该方案进行了理论推导、分析和仿真。与以往的单轴旋转方式及未采用旋转方式时的导航误差进行了比较，结果表明本方案可以消除所有方向上陀螺常值漂移的影响，从而大大提高位置和姿态精度。

Research on auto-compensation by rotation in strapdown inertial navigation systems

Using rotation to compensate gyro drift is an effective method to improve the accuracy of strapdown inertial navigation systems(SINS).The constant drift of gyros in the inertial measurement unit(IMU) is translated into periodic signals by the use of rotation and can be eliminated by integration operation.A new single-axis rotation modulation scheme is proposed firstly.Then the proposed scheme is derived and analyzed theoretically,and a simulation experiment is demonstrated.The simulation results show that t...