光纤陀螺惯导系统航位推算误差补偿方法研究

 针对惯导系统定位误差随时间积累而增大的缺点，提出利用航位推算方法进行误差补偿。在航位推算中根据引起误差的主要因素推导出位置误差方程，以此方程为依据，建立相应的卡尔曼滤波器。将惯导系统速度与航位推算速度之差作为滤波器的输入，估计系统的姿态、速度、位置及里程计刻度系数误差值，并通过闭环反馈进行实时误差补偿修正。任选2条非闭合路径进行跑车实验，第一条路径定位误差补偿修正前是3.49‰，补偿修正后定位误差是2.3‰，第二条路径补偿修正前定位误差是2.4‰，补偿修正后定位误差是2‰。实验结果表明：采用航位推算误差补偿方法可以有效降低系统定位误差。

Error compensation for dead reckoning in fiber optical gyroscope inertial navigation system

Aiming at the inherent disadvantage of inertial navigation system (INS)that the positioning error are accumulated over time, the method of compensating errors in INS /dead reckoning(DR) integrated system was put forward. The main factors which begot errors in dead reckoning were analyzed, and the positioning error equation was given,then the Kalman filter was built for  errors compensation of integrated system. The difference of velocity between INS and DR was used as the input of Kalman filter, the attitude error, velocity error, positioning error and the scale factor error of odometer were to be estimated which compensated the errors of integrated navigation system by feedback closed loop rectification. Two non-closed paths were selected in verification experiments.The positioning error of the first path is 3.49‰ and  2.3‰ before and after compensation respectively. And that of the second path is 2.4‰ and 2‰ before and after compensation respectively. Experiment results indicate that the system position accuracy is  improved effectively by dead reckoning compensation method.