捷联惯导系统圆锥误差分析

圆锥运动是刚体运动的一种几何效应，在圆锥运动下产生的圆锥误差是捷联惯导系统的重要误差源。产生圆锥误差的运动学机理表明，该误差在捷联惯导系统中只能通过系统设计和算法补偿等方法使其尽量减小而无法完全消除。本文在分析了圆锥误差的运动学机理的基础上推导了由于安装误差、陀螺量化误差、陀螺频带选取等因素影响下圆锥误差的大小。同时介绍了描述刚体圆锥运动的Goodman Robinson理论，应用该理论推导出了圆锥误差的一种有效修正算法，并通过仿真进行了验证。仿真结果表明，采取提高硬件精度和软件补偿的方法可以有效地降低圆锥误差对系统精度的影响。

Coning Error Analysis of Strapdown Inertial Navigation System

Coning motion is a geometric effect of rigid motion,and coning error from coning motion is an essential error source of strapdown inertial navigation system(SINS).The kinematic mechanism of generating coning error indicates that coning error can be reduced through system design and compensatory algorithm,but can not be eliminated.The magnitude of coning error which is affected by the fixing error,gyro's quantizing error and frequency band,and so on is deduced based on the analysis of kinematic mechanism of coning error generation.Moreover,the Goodman-Robinson theory of rigid coning motion is introduced,and an effective correction algorithm of coning error is deduced with this theory.Simulation result shows that the effect of coning error on system precision can be reduced via improved hardware precision and software compensation.