旋转捷联惯导系统精对准技术

针对惯性器件常值偏差对捷联惯导系统导航精度的影响，提出了一种单轴旋转调制方案并建立该系统误差方程，将系统中陀螺常值漂移和加速度计零位误差调制成周期变化的量。通过改变惯导系统误差模型中的捷联矩阵来改善系统的可观测性。利用谱条件数法计算出惯性测量单元(inertial measurement unit, IMU)在静止和旋转状态下捷联系统的可观测度，采用卡尔曼滤波方法实现了旋转捷联系统的精对准。仿真结果表明，IMU旋转状态下的对准方法消除了陀螺常值漂移和加速度计零偏对系统对准精度的影响，大大提高了对准精度。

Fine alignment by rotation in strapdown inertial navigation systems

To weaken the influence of constant bias of inertial elements on navigation precision of strapdown inertial navigation systems(SINS),a single-axis rotation modulation scheme is put forward and the systematic error function is established,thereby modulating the constant drifts of gyros and the zero error of accelerometers into periodically varying quantities.The systematic observability is improved by changing the strapdown matrix in the inertial navigation error model.The degree of observability for SINS is...