激光陀螺捷联惯性导航系统解析对准误差特性分析

为使惯性器件精度满足初始对准要求，对激光陀螺捷联惯性导航系统初始对准的误差特性进行了分析。从解析对准法的增量计算公式出发，采用扰动法推导了惯性器件测量误差带来的对准失准角及其随机特性，并根据姿态角与姿态矩阵之间的关系分析了对准失准角带来的姿态角误差。通过仿真和试验对理论分析结果进行了验证。研究结果表明：对准误差均值取决于惯性器件的常值误差和载体姿态，与对准时间无关；对准误差标准差和惯性器件的随机游走系数与载体姿态有关，且与对准时间的平方根呈反比。

Analysis of Error Characteristics of Laser Gyro SINS Based on Analytic Alignment Method

Error characteristics of initial alignment of laser gyro SINS are analyzed for selection of inertial sensors.Based on the incremental formula of analytic alignment method,the misalignment angle due to the measurement errors of inertial sensors is derived using the parameter perturbation technique,and its random characteristics are analyzed.The attitude angle errors caused by the alignment angle are worked out based on the relationship between attitude angle and attitude matrix.Finally,the theoretically analyzed results are verified through simulation and experiment.The studied results show that the means values of alignment errors depend on the constant errors of inertial sensors and the attitude of vehicle rather than alignment time,while the standard deviation of alignment errors is not only affected by the random walk errors of inertial sensors and the attitude of vehicle,but also is inversely proportional to the square root of alignment time.