基于规划航迹的“三自”光纤惯导系统航向耦合效应抑制技术

目前,国内"三自"(自标定、自对准、自检测)光纤惯导系统在长航时高精度自主导航领域已逐渐开展应用,但光纤陀螺安装误差、安装不正交度以及标度因数等参数稳定性大大限制了"三自"光纤惯导系统精度的提升,其主要原因是载体运动诱发的航向耦合效应严重影响了旋转调制效果。从航向耦合效应机理分析入手,指出了"三自"惯导系统航向耦合效应的不可解耦性,但针对无人飞行器和无人潜航器等通常需要规划航迹的载体,提出了一种基于规划航迹的旋转方案自适应调整技术,有效地抑制了航向耦合效应。试验结果表明,该方法可将系统的导航精度提升80%以上。

Restrain Technology of Heading-coupling Effect of Three-autonomy FOG INS Based on Planned Track

At present, three-autonomy (autonomous calibration, autonomous alignment, and autonomous test) FOG Inertial Navigation System (INS) has been gradually applied in the field of long-endurance high-precision autonomous navigation. Nevertheless, the parameter stability such as installation error, misalignment and scale factor of FOG greatly limits the improvement of the accuracy of three-autonomy FOG INS. The main reason is that the heading-coupling effect induced by carrier motion seriously affects the effect of rotary modulation. By analysing the mechanism of heading-coupling effect, this paper points out that the heading-coupling effect of the three-autonomy inertial navigation system cannot be decoupled. However, for the carriers that usually need to plan the track, such as unmanned aerial vehicles and unmanned undersea vehicles, an adaptive adjustment method based on the planned track is proposed to effectively suppress the heading-coupling effect. The experimental results show that this proposed method can improve the navigation accuracy of the system by more than 80%.