安装误差角引起的加速度计旋转误差建模

在导航过程中惯性平台绕方位轴旋转能够有效地调制陀螺的常值漂移,但加速度计安装坐标系和陀螺安装坐标系的不重合会导致加速度计零偏也被调制为一个变化量,因此需要建立其旋转误差模型进行补偿。针对平台惯导台体绕方位轴旋转时加速度计误差补偿的实际需要,建立加速度计由初始安装误差角引起的旋转误差模型。模型主要针对旋转过程中由初始安装误差角导致的加速度计和水平面之间的不重合度,模型包括角度叠加模型和单位矢量旋转模型。通过对两种模型仿真分析,表明角度叠加模型计算量小,并且能够满足实际误差补偿需要。

Modeling of misalignment-induced accelerometer rotation error

Rotating the inertial platform around the azimuth axis could effectively average out the constant drifts of gyroscopes.But during the rotation,accelerometers bias error could also be modulated as an installation error,so it needs to build a model of accelerometer rotation error for compensating.The models of misalignment-induced accelerometer rotation error were built to improve the performance of error compensation during the rotation of INS.These models mainly focused on the accelerometer error induced by the installation error during the rotation.One model is called Angle Superposition Modeling(ASM),the other is called Rotation of Unit Length Vector Modeling(RVM).The simulation results show that the ASM is effective and feasible.