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摘要
In inertial navigation system, one of the fatal disadvantages is that the positioning error caused by the inertial sensors'error increases with time. In order to keep high precision for a long period of time, the rotary inertial navigation systems has been studied by numerous researchers. The rotary scheme of rotary inertial navigation system is the key technique which affects the error mitigation. The commonly used dual-axis rotating scheme at present can just counteract the fixed errors, but the scale errors and installation errors of inertial measurement unit cannot be eliminated. Since the scale errors and installation errors will cause serious positioning error of inertial navigation system, an improved dual-axis rotating scheme of RINS was proposed in this paper after analyzing the error propagation characteristics of the system. The improved scheme could counteract all the scale errors and installation errors which coupled with the system rotating angular rate, and part of the scale errors and installation errors which coupled with the earth rotating angular rate could also be counteracted. The result of simulations Delivered showed by Ingenta that the to: improved Elsevier scheme BV has smaller amplitude in velocity errors and position IP: 203.56.241.128 errors curve, and On: the Wed, errors 03 Aug divergence 2016 20:08:08 speed is very slow, it is more conducive to the system's real-time and American long-timeScientific accuracy Publishers compared with the common dual-axis rotating scheme. Experiment was also conducted and the results accord with the theoretic and simulation conclusion.
- 出版日期2015
- 单位哈尔滨工程大学
