The invention relates to the technical field of inertial navigation, in particular to a
periodic oscillation error suppression method for a long-endurance high-precision
inertial navigation system. In order to effectively suppress the
periodic oscillation error of inertial navigation and improve the positioning precision, the invention provides a
periodic oscillation error suppression method for a long-endurance high-precision
inertial navigation system, which comprises the following steps: acquiring an attitude angle error and a speed error, carrying out phase
delay modulation
processing on the attitude angle error, the speed error, a course angle error and a
latitude error, and carrying out phase
delay modulation
processing on the course angle error and the
latitude error. The method comprises the following steps of: synthesizing and averaging, improving the navigation precision and stability by adopting a phase
delay modulation inertial
navigation error suppression method of an improved robust adaptive
Kalman filter, obtaining a more accurate speed by suppressing a Schller oscillation error, and then applying the speed to integrated navigation so as to reduce error
divergence of an
inertial navigation system, and finally, improving the navigation precision and stability by adopting a phase delay modulation inertial
navigation error suppression method of the robust adaptive
Kalman filter. The phase delay modulation inertial
navigation error suppression method of the improved robust adaptive
Kalman filter is adopted to improve the navigation precision and stability.