一类含陀螺安装误差角的惯导平台漂移模型的修正

研究陀螺安装误差角对惯导平台漂移运动的影响， 在此基础上推导了修正的平台漂移运动模型，并指出了以往平台漂移运动方程中与陀螺安装误差有关的错误。分析表明，以往模型中出现的从陀螺敏感轴系到平台轴系的变换阵是多余的。在实际惯导平台上通过测漂实验对新模型进行了验证，结果表明，由基于新模型的EKF得到的参数估计收敛性远好于基于未修正模型的情况。

Modification of inertial navigation platform drift model containing gyro misalignment angles

The effect of gyro misalignment angles on the INS platform drift is investigated. A modified platform drift model is derived which corrects the previous modeling error relevant to the gyro misalignment angles. The coordinate transform matrix from gyro sensor frames to the platform frame, which arises in the previous literature, is shown to be superfluous. Verification is made by performing drift test on a real type of INS platform, whose measurement data is processed by EKF to identify the platform drift parameters. The parameter estimation result given by the EKF based on the new derived model exhibits much better convergence than that given by the EKF based on the unmodified one.