单轴旋转对惯导系统误差特性的影响

分析了单轴旋转惯导系统自动补偿的基本原理，对陀螺和加速度计常值漂移、安装误差、标度因数误差等因素在单轴旋转下的调制情况进行了研究。通过仿真分析了转动速度对各种误差的影响规律，指出了实际系统旋转速度和方式的选择要综合考虑陀螺的常值漂移和标度因数误差的影响。利用激光捷联惯导系统在实验室中进行了单轴旋转IMU实验，其定位精度优于1nm／24h。研究结果可以为单轴旋转惯导系统的进一步优化和工程设计提供理论参考。

Influence of single-axial rotation on INS error characteristics

The auto-compensation principle of the single-axial rotation inertial navigation system(INS) was introduced. The effect of the gyro's and accelerometer's bias,fixing error and scale-factor error on the single-axial rotation was indicated. The effect of the rotating velocity on the system errors was analyzed by simulation. The selection of the rotating mode and velocity need considering the gyro's bias and the scale-factor error. The single-axial rotation experiment was implemented by the IMU at lab,and the position error of the system is less than 1 nm/24h. The study results offer the academic basis for optimizing and designing of single-axial rotation INS.