双轴旋转惯导系统轴系间安装偏差角的标校方法

双轴旋转调制技术作为一种惯导系统误差自动补偿技术，在长航时高精度导航领域得到广泛应用。然而，由于惯测单元相对载体的旋转运动，无法直接表征载体真实的航姿信息，需要进行相应的调制解调；影响解调精度的主要是惯测单元测量轴与内环轴、内环轴与外环轴的安装偏差角的标定精度，针对此问题，提出了一种轴系间安装偏差角的标校方法。经验证，该方法具有很高的标定精度，解调所得航姿信息能够准确表征载体的真实航姿，具有很高的工程应用价值。

A Calibration Method of Fixing Error Angle between Axises for Dual-axis SINS

Dual-axis rotation modulation technology which can compensate the error of SINS is applied abroad in navigation field of long-time and high-precision. Because of the rotation of IMU, we need to make demodulation to show the real attitude of the carrier. The precision of demodulation is affected by the calibration precision of the fixing error angle between axises. So we put forward a calibration method based on the theory study. The result of simulation shows that this method can achieve a high precision and satisfy the application of engineering.