安装误差对旋转式惯导系统影响及补偿

因轴与轴承间同轴度误差、轴系间隙、机械加工精度、安装等因素,旋转式惯导系统会产生各种形式的安装误差。对各种安装关系进行了说明,详细推导并分析了系统存在安装误差时的输出特性及误差调制效应。在理论分析的基础上,针对实际旋转式惯导系统,通过分析主要误差源,建立合适的误差补偿模型,实现对相关误差的补偿。误差补偿结果表明,该补偿方案能同时消除陀螺敏感轴与旋转轴间的不正交误差、与比力相关的漂移以及因旋转而产生的周期性波动误差,具有很高的工程应用价值。

Influence and compensation of the installation error on rotation SINS

There are various installation errors in the rotation inertial navigation system caused by several factors, such as the coaxial error of the shaft and the bearing, the clearance of the shaft, the precision of the machining and the installation. Here, various installation relationships are described, and the output characteristics of the system and the modulation effects of errors are deduced and analyzed in detail. On the basis of theoretical analysis, a suitable error compensation model designed for the actual rotation inertial navigation system through the analysis of main error source is presented to compensate for the corresponding errors. Results of the error compensation show that the compensation scheme can eliminate the non orthogonal error between the gyro sensitive axis and the rotation axis, the drift with the specific force and the error of periodic fluctuation caused by rotation, which can find wide applications for engineering.