【摘要】 针对陀螺加速度计受到横向加速度作用时输出均值上叠加了与外环角位置相关的谐波分量，引起惯导系统导航误差的问题，通过建立陀螺加速度计受横向加速度作用时的输出模型，揭示了输出谐波分量的产生机理，并提出了一种内环角度、外环角位置的辨识方法，基于此可以定量计算输出谐波分量。通过从输出中消除谐波分量，实现输出谐波误差补偿。经实验验证，所提方法可以基本消除陀螺加速度计谐波误差，输出谐波误差可降低至补偿前的1/10，大幅提高了陀螺加速度计测量精度，系统最大速度误差减小了62.5%。所提方法对惯导系统导航精度提升具有一定的应用价值。更多还原

【Abstract】 When gyro accelerometer is subjected to lateral acceleration, the output mean value is superimposed with harmonic components related to angle of the outer frame, causing navigation errors in inertial guidance systems. An output model of the PIGA under the influence of lateral acceleration is established, and the generation mechanism of the output harmonic components is revealed. A method for identifying the inner frame angle and angle of the outer frame is proposed. Based on this, the output harmonic components can be quantitatively calculated, and by eliminating the harmonic components from the output, the output harmonic error compensation can be achieved. Experimental validation demonstrates that the proposed method can substantially eliminate harmonic errors, reducing output harmonic errors to one-tenth of pre-compensation levels, which significantly enhances measurement accuracy of gyro accelerometer. The maximum speed error of inertial navigation system has been reduced by 62.5%. The proposed method has engineering application value for enhancing navigation precision of inertial navigation system.更多还原