IMU 角变速运动对旋转式 SINS 定位精度影响分析

刘适; 王世安; 刘兴章; 张义; 杨祥龙

doi:10.15892/j.cnki.djzdxb.2014.04.043

弹箭与制导学报 >

2014 , Vol. 34 >Issue 4: 19 - 24

DOI: https://doi.org/10.15892/j.cnki.djzdxb.2014.04.043

导弹与制导技术

IMU 角变速运动对旋转式 SINS 定位精度影响分析

刘适 ,
王世安 ,
刘兴章 ,
张义 ,
杨祥龙

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¹ 哈尔滨工程大学自动化学院, 哈尔滨 150001
² 海军驻沈阳地区军事代表局, 沈阳 110000
³ 海军驻大连地区军事代表室, 辽宁大连 116000
⁴ 北京航天自动控制研究所, 北京 100854
⁵ 宇航智能控制技术国家重点实验室, 北京 100854

刘适(1989-),男,辽宁沈阳人,硕士研究生,研究方向:惯性导航系统。

收稿日期: 2013-12-23

网络出版日期: 2025-05-30

基金资助

国家自然科学基金(51179039)

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Influence of IMU Angle Variable Motion on Positioning Accuracy of Rotary SINS

LIU Shi ,
WANG Shian ,
LIU Xingzhang ,
ZHANG Yi ,
YANG Xianglong

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¹ College of Automation, Harbin Engineering University, Harbin 150001, China
² Military Representative Bureau of Navy in Shenyang Area, Shenyang 110000, China
³ Military Representative Bureau of Navy in Dalian Area, Liaoning Dalian 116000, China
⁴ Beijing Aerospace Automatic Control Institute, Beijing 100854, China
⁵ National Aerospace Intelligence Control Technology Laboratory, Beijing 100854, China

Received date: 2013-12-23

Online published: 2025-05-30

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摘要

针对旋转式捷联惯导中惯性测量单元(IMU)旋转角速度变化过程(以加减速过程为主)对系统定位精度的影响进行分析和研究。建立了基于地理坐标系下的角变速过程的运动模型,并以此为基础推导了旋转运动抵消等效陀螺漂移误差的基本原理。结合在工程中普遍使用的单轴四位置八次序转停方案,详细分析了IMU加减速过程对捷联惯导系统定位精度的影响。在理论分析的基础上利用仿真试验比较了不同加减速旋转方案的定位误差,仿真结果验证了角变速运动能够显著影响旋转式捷联惯导系统的定位精度。

关键词： 捷联惯导系统; 惯性测量单元; 单轴旋转; 角变速运动

本文引用格式

刘适 , 王世安 , 刘兴章 , 张义 , 杨祥龙 . IMU 角变速运动对旋转式 SINS 定位精度影响分析[J]. 弹箭与制导学报, 2014 , 34(4) : 19 -24 . DOI: 10.15892/j.cnki.djzdxb.2014.04.043

Abstract

The influence of inertial measurement unit (IMU) rotary angular velocity variation on positioning accuracy of strapdown inertial navigation system (SINS) was studied. Angle variable motion model was established in geographic coordinate system. Then, the basic principles that equivalent gyro drift errors were compensated by rotary motion were derived. Combined with the widespread single-axis 4-position and 8-order rotation-stop scheme, the effect of acceleration and deceleration of IMU on positioning accuracy of SINS was analyzed in detail. Simulations based on theoretical analysis were carried out. Finally, the positioning errors of rotation schemes with different acceleration and deceleration were compared by simulation tests, the results verified that the accuracy of the rotary SINS was apparently impacted by angle variable motion.

Key words： strapdown inertial navigation system; inertial measurement unit; single-axis rotation; angle variable motion

参考文献

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