Sixteen-position error modulation method of dual-axis rotation inertial navigation system

Abstract

The invention discloses a sixteen-position error modulation method of a dual-axis rotation inertial navigation system. The method comprises the following steps: determining a carrier coordinate system, determining a rotating axis, determining a rotating coordinate system, defining constant errors, calibration factor errors and installation errors of a gyroscope and an accelerometer, determining arotational angular velocity, a position stopping frequency and a rotational angular velocity, sequentially determining rotating axes, rotating directions, rotating angles and stopping times under 1-16rotating orders, determining an attitude error within one rotating period, determining a velocity error within one rotating period, and determining long-endurance latitude and longitude errors. Underthe condition that the system cost and complexity are not increased, by changing the rotating orders of sixteen positions, an attitude error and a velocity accumulation error within one rotating period of the system are effectively reduced, and simultaneously, the oscillation amplitudes of the caused latitude and longitude errors are obviously reduced, thereby further improving the navigation accuracy of the dual-axis rotation inertial navigation system.

Description

[0001] The invention relates to the technical field of inertial navigation, in particular to an error modulation method of a dual-axis rotary inertial navigation system based on sixteen-position rotation. technical background

[0002] The inertial navigation system ("inertial navigation system") is an important autonomous, concealed It is widely used in the fields of aviation, spaceflight and navigation navigation. Because the system has an integral link in the navigation calculation, the inertial navigation system error accumulates with time under the action of the error source. The rotary inertial navigation system is to reduce the system error by adding a rotating mechanism to the system inertial measurement unit and driving the unit to rotate periodically around the carrier to modulate the constant value error source and slowly changing error source of the system. Currently, rotary inertial navigation systems can be divided into single-axis and dual-axis rotary inertial n...

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