机抖激光陀螺捷联系统动力学建模及结构动特性设计方法

机抖激光陀螺捷联系统普遍采用抖频偏频技术消除闭锁效应的影响，这使得激光惯导成为自带激励源的动力学系统，动力学系统结构参数的设计将影响陀螺抖动效率和陀螺测量精度。在陀螺抖动驱动力条件下，建立了包含激光惯导箱体、惯性测量本体、陀螺、减振器、抖轮在内的较为完整的动力学模型，给出了该模型的解答过程和Matlab仿真计算结果，讨论了不同结构参数对抖动效率及惯导精度的影响规律，并在此基础上提出了激光惯导结构基于动特性设计的原则和方法。经验证，该方法能够有效指导结构转动惯量等参数设计，提高了设计质量，有效避免了激光惯导由结构设计不足而导致的动力学问题。

The Dynamic Modeling and the Structure Design Method Based on the Dynamic Characteristics of DRLG INS

The dither bias technology is widely used to eliminate the latch-in effect in inertial navigation system(INS) using dither ring laser gyroscope(DRLG). Therefore, the INS is a dynamic system which has a self-excited source. The dynamic system structure parameter can affect on the dither efficiency of the gyroscope and the accuracy of the measurement. A dynamic model of the INS including the shell, the inertial measurement unit(IMU), the gyroscope, the absorber and the dither mechanism is established under the excitation of dither''s drive moment. The solution process of the model and the results of Matlab simulation are presented. The influence of different structure parameter on dither efficiency and inertial navigation accuracy are discussed. The principles and methods of laser inertial navigation structure design based on the dynamic characteristics are presented. It is verified that this method can effectively guide the design of IMU rotational inertia and other structure parameters, improve the design quality, and effectively avoid the dynamic problems caused by structure deficiency of laser inertial navigation system.