垂向对称的四陀螺冗余式单轴旋转捷联惯导方法

针对现有惯导正交配置方案在高海况下存在可靠性不高以及导航误差随时间累积快的问题,提出一种四陀螺冗余配置的单轴旋转捷联惯导新方案。通过器件级冗余技术,依据冗余数目等同时可靠性最大,导航特性更优的原则,设计了一种四陀螺圆锥垂向对称配置方案。以此为基础,考虑单轴旋转调制转轴垂直方向上器件误差的优势,提出将冗余配置和单轴旋转调制相结合的冗余式单轴旋转捷联惯导技术,并给出了具体的设计方法和过程。仿真结果表明:惯导系统可靠性较传统无冗余方案提升75%,定位精度较无旋转调制方案提升26%。新方法能够实现可靠性和精度的综合提升,且配置结构体积增加不多,安装方便,工程实现性较强。

Single-axis Rotational Modulation SINS Method for Four-Gyro Vertical and Symmetrical Redundancy Configuration

A single-axis rotational modulation SINS method based on four-gyro redundancy configuration is given to solve the problems of the low reliability of orthogonal configuration and the fast-accumulating navigation error . Through device-level redundant technology, a four-gyro vertical and symmetrical conic configuration is designed to have the highest reliability, better navigation performance with the same redundancies. Based on the advantage of single-axis rotational modulation in decreasing the constant device drift in the vertical direction, the redundancy configuration is developed creatively combining with single-axis rotational modulation method. The design method and process are also given in detail. The results show that the reliability of SINS can be increased by 75% and the positioning precision can be improved by 26%. The new method can improve reliability and navigation precision comprehensively while keeping the configuration the least volume-expanding, convenient to installate and easy to realize for engineering