Constant error analysis of two-point comprehensive calibration in gimbaled inertial navigation system
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摘要: 为估计和补偿各种误差源引起的综合校正误差, 针对平台式惯导系统综合校正中的两点校, 从理论上分析了外部测量信息误差和惯性平台水平误差角对陀螺常值漂移综合校正效果的影响, 推导了陀螺常值漂移误差限与校正时间间隔的关系, 并对受外部测量信息误差影响的两点校过程进行了仿真。研究结果表明: 在目前的外部测量信息精度和平台水平精度下, 两次重调的间隔时间为10 h时, 两类误差最大值的量级均为0.001 (°).h-1; 两点校对陀螺常值漂移的估计误差与两类误差均成线性关系; 提高外部测量信息精度和惯性平台的水平精度是提高两点校精度的关键。Abstract: In order to estimate and compensate the comprehensive calibration errors caused by various factors, the influences of exoteric measuring information error and inertial platform horizontal error angle in two-point comprehensive calibration of gimbaled inertial navigation system (INS) on the calibration effect of constant gyro drift were studied in theory. The relation between the maximum values of constant gyro drift error and calibration interval was deduced. Two-point calibration process affected by exoteric measuring information error was simulated. Analysis result shows that under current precision levels of exoteric measuring information error and platform horizontal error angle, the magnitudes of the maximum values induced by the two errors are both 0.001 (°) ·h-1 when the interval time of two adjustments is 10 h. The two kinds of errors are both linear with the estimation error of two-point calibration approach on constant gyro drift. In order to improve the precision of two-point calibration, it is important to increase exoteric measuring information precision and inertial platform horizontal precision efficiently.
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表 1 仿真结果和理论值对比
外界测量信息误差 Δε1X/[10-6 (°) ·h-1] Δε1Y/[10-6 (°) ·h-1] Δε1Z/[10-6 (°) ·h-1] Δφ0/ (″) Δφ1/ (″) Δλ0/ (″) Δλ1/ (″) ΔC0/ (″) ΔC1/ (″) 仿真值 理论值 仿真值 理论值 仿真值 理论值 0.5 0.5 0.5 -0.5 20 20 -1 263 -1 259 -44 -42 19 17.5 0.5 0.5 0.5 0.5 20 -20 5 0 -292 -303 577 601.0 0.5 -0.5 0.5 0.5 20 20 -1 253 -1 249 -2 0 1 0.0 
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