研究一种捷联惯组系统级标定中转台误差抑制方法。通过分析转台误差传播原理,量化其对标定结果的影响程度,归纳标定残差的迭代规律,提出基于迭代法的转台误差抑制方法,给出迭代收敛判定条件及仿真求解方法,最后进行仿真验证。仿真假定各转台误差项均为10°,仿真结果表明该假设满足收敛条件,且6次迭代计算就可使标定误差小于3%。仿真计算和理论分析结果一致,迭代法能有效抑制转台误差的影响,易于工程实现。

The method of restricting the influence of turntable errors on system-level calibration of strap-down inertial measure units (SIMU) was studied. By analyzing the propagation of turntable errors during calibration process, the influence of turntable errors on calibration accuracy was quantified. An iteration method with detailed process was proposed to restrict turntable error, which follows the rule of residual propagation errors step by step, and the convergence condition and how to calculate the iteration times were studied. A simulation experiment with the turntable errors of 10 degrees was performed, and the results show that the premise satisfies the convergence condition and iterative computation for 6 times can make the calibration error to be less than 3%. The calculation results are consistent with analysis results in theory. The method can be applied to restrict turntable errors effectively in system-level calibration process.