半捷联微惯性测量系统同轴度误差解析评定

半捷联微惯性测量方法的提出为高旋弹药飞行姿态的高精度测量提供了一种全新的解决方案，而复杂的半捷联机械结构又给测量系统带来了不可忽略的同轴度问题。针对半捷联系统的同轴度问题，在介绍半捷联微惯性测量系统基本组成结构与工作原理的基础上，分别提出了适用于半捷联系统外筒与内筒的同轴度解析评定方法。其中，外筒的同轴度测定方法参考现有标准测量方法，而内筒的同轴度测定，则是在推导存在同轴度误差角时微惯性测量组合（MIMU）输出模型的基础上，详细设计了适合半捷联内筒同轴度的动态标定方法，利用系统自身组部件完成了同轴度误差角标定，并在实验条件下对径向陀螺输出作了误差补偿，验证了该方法的可行性，最终完成了半捷联微惯性测量系统同轴度误差的综合解析评定。

Analysis and Evaluation of Coaxiality Error of Semi-strapdown Micro Inertial Measurement System

The semi-strapdown micro inertial measurement method is a new solution to high precision attitude measurement of the high-speed rotation ammunition. The complex mechanical structure of semi-strapdown platform causes a non-ignorable coaxiality error. The basic structure and working principle of the system are introduced, and the analytical evaluation methods suitable for the coaxiality evaluation of the outer and inner cylinders of semi-strapdown system are proposed. The evaluation method of outer cylinder is based on the existing standard measurement method. A dynamic evaluation method for the inner cylinder coaxiality of semi-strapdown system is designed in detail based on the deduction of miniature inertial measurement unit（MIMU）output model in consideration of coaxiality error angle. The coaxiality error angle is calibrated using the component in the system, and makes the error compensation for the radial gyro output under the experiment condition. The analysis and evaluation of the coaxiality error of semi-strapdown micro inertial measurement system are performed. The results show that the proposed method is feasible.