【摘要】 针对旋转惯性导航系统双位置对准确定性误差大于预期的问题，开展了基于速度误差变化率的旋转对准航向误差理论分析，提出三次序整圈旋转对准方案。通过建立时变条件下等效北向加速度计误差变化率模型，阐明天向角速度测量误差是航向对准不可忽视的误差源。对双位置方案和正反整圈旋转方案开展详尽的误差分析，正反整圈旋转方案可消除加速度计杆臂误差与非正交误差，抑制陀螺安装角误差，但会放大陀螺标度因数误差；而三次序整圈旋转方案兼容两种方案的优势。基于旋转式光纤惯导验证了所提方案的优越性，其航向效应误差与综合对准误差分别由双位置方案的25.74″和23.25″减小至4.86″和14.74″。更多还原

【Abstract】 To address the issue that deterministic errors in two-position alignment of rotational inertial navigation systems exceed expectations, a theoretical analysis of heading alignment errors is conducted based on the rate of velocity error variation, and a three-stage full-circle rotation alignment scheme is proposed. By establishing a model for the equivalent northward accelerometer error variation rate under time-varying conditions, it is revealed that celestial-axis angular velocity measurement error constitutes a non-negligible error source for heading alignment. Comprehensive error analysis has been conducted for the commonly used two-position scheme and the forward-backward full-circle rotation scheme. The forward-backward rotation scheme can effectively eliminate accelerometer lever arm errors and non-orthogonality errors while suppressing gyro mounting angle errors, though it amplifies gyro scale factor errors; whereas the three-stage full-circle rotation scheme combines the advantages of both approaches. The superiority of the proposed scheme is verified using a rotary fiber optic inertial navigation system. The heading effect error and the comprehensive alignment error are reduced from 25.74″ and 23.25″ in the two-position scheme to 4.86″ and 14.74″ in the three-stage full-circle rotation scheme, respectively.更多还原