战车用惯性定位定向系统的支架误差分析及补偿

战车用惯性定位定向系统由于采用双轴陀螺平台结构,不可避免地存在着支架误差,从而影响系统航向精度。应用球面三角法和方向余弦矩阵法分别推导出双轴陀螺平台的支架误差公式,发现由这两种方法推导出来的公式计算结果是一致的。最后通过数学仿真和分析,给出了支架误差与载体的姿态角之间的定量关系。根据此误差公式,对惯性定位定向系统的航向输出能够进行误差补偿,从而保证了动态条件下定位定向系统的航向输出精度。

Analysis and compensation on bracket error of inertial positioning and heading system for fighting vehicle

The inertial system of fighting vehicle existed bracket error due to its two-axis gyro platform structure,and this could influence the heading precision.Methods of spherical trigonometry and direction cosine matrix were applied respectively to derive the bracket error,and the two methods had the same error formula and the same calculation results.The quantitative relationships between the bracket error and the attitude angles of carrier were showed by the mathematic simulation and analysis.According to this error formula,the inertial system can be compensated for its heading error,so the precision of its heading outputs in dynamic condition can be guaranteed.