舰用高精度激光陀螺惯导内杆臂误差分析及补偿方法研究

对于高精度激光陀螺旋转惯导系统，大部分惯性器件误差都能够通过惯性测量单元（ IMU）旋转而调制掉，内杆臂误差不仅不能够被调制掉，反而因为 IMU旋转将误差引入到系统对准和导航过程中。基于此，本文对内杆臂误差进行分析与建模，推导内杆臂误差与导航速度误差之间的数学表达式，通过分析确定内杆臂长度和振动频率是影响内杆臂误差的2个因素，并提出基于内杆臂长度的误差补偿方法。最后，通过试验对内杆臂误差模型和补偿方法进行了验证。

Rotating scheme designing for two-axis rotating laser gyro inertial navigation system

For high-precision rotary laser gyro inertial navigation systems (RINS), inertial instruments errors are most able Inertial Measurement Unit (IMU) rotating modulation off, an error in the arm not only can't be modulated out, but because the error introduced into the IMU rotation system registration and navigation. Based on this, the internal lever arm error analysis and modeling, detailed pushed to the mathematical expression in the lever arm and the navigation error speed error between. Through analysis identified within the lever arm length and frequency of vibration are two factors that affect the inner lever arm error, and error compensation method is proposed based on internal lever arm length. Finally, within the experimental error of the lever arm model and compensation methods of this study were verified.