方位捷联惯导平台系统及其误差分析

根据导航系统对高精度的需要,在捷联惯导和平台惯导的基础上提出了一种方位捷联惯导平台,该平台取消了普通平台系统的方位环及其伺服回路,保留了俯仰环和横滚环及其对应的伺服回路,介绍了平台的组成及工作原理,并且推导出平台角误差方程、速度误差方程和位置误差方程.建立状态方程和量测方程后用Kalman滤波的方法对系统进行软件仿真,仿真结果表明,方位捷联惯导平台综合了捷联和平台的优点,具有平台角误差小、收敛速度快等特点.

Azimuth strapdown inertial navigation platform system and error analysis

According to the requirements of high-precision navigation, the paper presented an azimuth strapdown inertial navigation platform based on the strapdown system and the platform system. The platform cancelled yaw frame and servo-loop of general platform system, while reserved pitch and roll frames as well as their servo-loops. The composition and principle of the platform were introduced, and the error equations of attitude angle, velocity and position were given. Azimuth strapdown system was simulated using software and Kalman filtering after state equations and observation equations were established. Simulation result shows that the azimuth strapdown platform combines the advantages of both strapdown and platform navigation, for example, its platform-angle error is small and can convergence rapidly.