单轴旋转惯导系统旋转性误差分析及补偿

对单轴旋转惯导系统因旋转而引入的各项误差进行分析,研究其误差特性及补偿方法。针对单轴正反连续旋转方案,在假定惯性测试组件的器件误差和其他非旋转性的误差在精确标定的情况下,推导了因旋转轴安装不正交引起的涡动、轴系间隙引起的晃动、测角器件误差、旋转控制引起的换向超调误差、角位置、角速度不准确等因素而引起的误差的表现形式,定性和定量地分析了各误差对于系统精度的影响。针对对系统影响显著的旋转轴不正交误差,提出了一种基于系统自身旋转轴正反旋转的误差标定及补偿方法并进行了仿真实验。在给定条件下的仿真结果表明,该方法能够准确标定出旋转轴的不正交误差,标定精度达到角秒级。

Analysis and compensation for rotary errors of INS with single axis rotation

The rotary errors in INS due to the IMU rotation are studied to analyze the error characteristics and compensation method.Based on the single-axis positive and reverse continuous rotation scheme,and under the assumption that the inertial sensor errors and other system errors are calibrated exactly,this paper deduces the expression of the orthogonal error and swing error of rotary axis,the measurement error of angle sensor,the angle and angular rate error,and the overshoot during the shift of rotation direction to the INS with single axis rotation,and analyze the effects of these errors on system precisions.To compensate the orthogonal error of the rotary axis,a calibration scheme based on the IMU rotation is designed,and simulation tests are made.The test results under the assumed condition show that the orthogonal errors can be compensated by the calibration scheme and can be reduced to the level of arc-second.