【摘要】 为了降低重力无源导航系统成本,在速率方位平台上放置一个重力敏感器,以构成集重力仪和导航仪为一体的系统.根据该系统的特点对速率方位平台惯性导航系统进行了研究,给出了该系统的导航计算公式、速率方位平台姿态角、系统速度和位置的误差方程以及加速度计和陀螺仪的随机误差模型.用MATLAB/Simulink工具对无阻尼和有阻尼速率方位平台惯性导航系统进行了计算机仿真,仿真结果表明带阻尼的速率方位平台惯性导航系统平台误差角和定位误差小,能够满足重力测量和导航要求.更多还原

【Abstract】 The cost of the gravity passive inertial navigation system will be lower with a rate azimuth platform and gravity sensor constituting a gravity measurement and navigation system.According to the system performance characteristics,we study the rate azimuth platform inertial navigation system (RAPINS),give the system navigation algorithm,error equations of the attitude,velocity and position of the rate azimuth platform,and random error models of the accelerometer and gyro.Using the MATLAB/Simulink tools,we study the RAPINS and RAPINS with velocity damping.Simulation results demonstrate that the RAPINS with velocity damping has small errors in platform attitude and position and satisfies gravity measurement and navigation requirement.更多还原