基于尺寸效应在线补偿的旋转捷联惯性导航系统初始对准

在旋转捷联惯性导航初始对准过程中，尺寸效应带来的加速度测量误差影响对准精度，为此提出一种基于尺寸效应在线估计与补偿的旋转调制初始对准方法。建立旋转调制初始对准的最优估计模型，并阐述旋转调制对初始对准的误差抑制机理；分析尺寸效应对加速度计输出的影响规律，推导出尺寸效应误差数学模型，将内杆臂长度参数扩展至初始对准状态空间，在初始对准最优估计过程中估计出内杆臂长度，同时在滤波模型中补偿尺寸效应误差。对旋转捷联惯性导航系统进行了实验，结果表明，内杆臂长度得到在线估计，通过尺寸效应补偿提高了旋转调制初始对准精度。

Initial Alignment for Rotating SINS Based on On-line Compensation of Size Effect

In initial alignment of rotating strapdown inertial navigation system (SINS), the acceleration error due to size effect will reduce the accuracy of alignment.A rotation-modulation initial alignment method based on the on-line estimation and compensation of size effect is proposed to compensate the size effect error. An optimal estimation model of rotation modulation initial alignment is established, and the error suppression mechanism of initial alignment by rotation modulation is elaborated. Model of size effect error is deduced by analyzing the influence of size effect error on the output of accelerometer. The length parameter of inside lever arm is put into the state space of initial alignment, and estimated in the process of optimal estimation. The size effect error is compensated in a filtering model. The experimental results show that the length of inside lever arm is estimated on-line, and the accuracy of rotation modulation initial alignment is enhanced by compensating the size effect error.