【摘要】 陀螺仪的漂移是空间稳定惯性导航系统的主要误差源,对漂移模型系数的准确辨识是保证系统实现长时间、高精度自主导航的关键.给出了一种利用三轴高精度伺服转台提供多个测试位置,使惯性平台工作在相应位置下,并处于惯性稳定状态的静态6位置测漂方案.三轴转台的使用提高了多位置测量时,平台测漂位置的精确度.建立了包含陀螺仪漂移、地球自转、安装误差角等因素在内的平台漂移数学模型.对平台漂移误差参数的辨识方法进行了阶段性分析,取加速度计和欧拉角的输出作为观测量,建立了平台漂移误差模型的状态方程和输出方程.从理论上分析了影响陀螺安装误差角辨识精度的主要因素,提出了转台相对地面存在角速率条件下的辨识方案改进的思路.更多还原

【Abstract】 The drift error of gyroscopes is the main error resource of the space-stable inertial navigation systems.Precisely determining the drift model coefficients is the key to successful long-time operation with the navigation systems.This paper presents a static,six-station drift measuring method in inertial table status,gives stations by three-axis test-table.Improves the precision of stations when measuring.builds platform drift mathematical model considering gyroscope drift and earth rotation and misalignment angle.Giving a abecedarian method of identifying the drift error of platform,uses the outputs of the accelerometers,that of gambal angle sensors on the platform as the measurement values,an extended Kalman filter can estimate the drift model error coefficients of platform.Analyzes the main factor that affects the identification accuracy of the misalignment angle.A modified test scheme is presented by introducing the rotation of the turning table with respect to the ground.更多还原