微陀螺g敏感性误差对组合导航精度的影响分析

高动态环境下，MIMU中的微机械陀螺表现出显著的g敏感性误差。首先采用简化的线性模型，从经典卡尔曼滤波的滤波增益阵出发，理论分析了g敏感性误差对组合导航系统精度的影响；然后在组合导航半实物仿真平台上进行了验证。结果表明，g敏感性误差对组合滤波位置与速度精度影响不大，但对姿态的精度影响较大，当载体沿陀螺敏感轴方向的加速度为50g时，相应轴向的姿态角误差约为5.70°，姿态精度损失很大。因此，MIMU/GNSS组合导航在高动态应用中，必须对微陀螺的g敏感性误差进行补偿。

Effects of the micro-gyroscope of g-sensitivity error on Accuracy of Integrated Navigation

MEMS gyro shows obvious g-sensitivity error in high dynamic environment. By analyzing the gain matrix in Kalman filter, this paper researches the effect of g-sensitivity error on integrated navigation performance with linear model. Then, a semi-physical simulation system is introduced to validate the correctness of this conclusion. Statistics indicate that the g-sensitivity error has primarily affected attitude accuracy of the integrated navigation in high dynamic applications. when the acceleration from the sensitive axis direction is 50g, the precision of attitude error is as much as 5.70°. Therefore, the g-sensitivity error needs to be made up in MIMU/GNSS integrated navigation for high dynamic application.