| 惯性导航系统中陀螺斜坡漂移的测量及补偿 |
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| 引用本文： | 赵琳,戎健美,黄卫权.惯性导航系统中陀螺斜坡漂移的测量及补偿[J].中国造船,2004,45(3):57-63. |
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| 作者姓名： | 赵琳 戎健美 黄卫权 |
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| 作者单位： | 哈尔滨工程大学自动化学院,黑龙江,哈尔滨,150001 |
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| 摘 要： | 当惯性陀螺工作在方位姿态时,有一定的斜坡漂移,它将引起惯性导航系统中的严重的航向和位置误差,所以有必要估计和补偿它.本文描述了斜坡漂移产生的原因和特性,详细讨论了一种在BBA校准后利用惯导系统的输出来估计和补偿斜坡漂移和常值漂移的方法,以及提出了几个在实际操作中需注意的问题.软件仿真和实验都证明了这种方法的有效性.
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| 关 键 词： | 船舶、舰船工程 BBA校准 惯性导航系统 常值漂移 斜坡漂移 |
Measurement and Compensation of the Gyro′s Slope Drift in INS |
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| Abstract.Measurement and Compensation of the Gyro′s Slope Drift in INS[J].Shipbuilding of China,2004,45(3):57-63. |
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| Authors: | Abstract |
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| Abstract: | There exists a slope drift in an integral gyro when it is used as an azimuth gyro, which may cause serious heading and position errors in the Inertial Navigation System (INS). Thereby, it is necessary to estimate and compensate it. This paper describes its cause and characteristics. A method of using the output of INS after BBA calibration to estimate it and constant drift is discussed in detail. In addition, some issues needed to note in the practical operation are provided too. Software simulation and practical experiment both show the validity of this method. |
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| Keywords: | ship engineering BBA calibration inertial navigation system (INS) constant drift slope drift |
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