主惯导速度误差短周期波动对子惯导传递对准影响分析

随着激光陀螺技术的发展，旋转调制式激光陀螺惯性导航系统逐渐成为舰载主惯导系统，舰载机、舰载武器系统需要旋转调制式激光惯导系统提供的姿态、速度和位置信息进行对准，即主子惯导的传递对准。由于旋转调制式系统中的姿态、速度和位置具有随旋转的短周期波动问题，势必会影响对准时间较短的子惯导对准精度。为了保证传递对准的快速性，一般采用速度匹配方法。定量分析了主子惯导传递对准过程中主惯导速度误差短周期波动对子惯导系统对准精度的影响，首先进行了数字仿真，之后利用双轴激光陀螺惯导、纯捷联光纤陀螺惯导数据进行了半实物仿真，验证了主惯导速度误差的一次项系数与子惯导初始对准水平姿态误差呈线性关系，二次项系数与子惯导初始对准航向误差呈线性关系。

Influence Analysis of Short Period Fluctuation of Main Inertial Navigation System Velocity Error on Transfer Alignment of Sub Inertial Navigation System

With the development of laser gyroscope, the rotary-modulated laser gyroscope inertial navigation system(INS) has gradually become the shipborne main-INS. The shipborne aircraft and shipborne weapon systems require the rotary-modulated laser INS to provide attitude, velocity and position information for alignment which is the transfer alignment of the main-INS and the sub-INS. Because the attitude, velocity and position of the rotary-modulated system have a short period fluctuation with rotation, the alignment accuracy of the sub-INS with short alignment time will be affected inevitably. In order to ensure the rapidity of transfer alignment, the velocity matching method is generally used. In this paper, the influence of the short period fluctuation of the main-INS velocity error on the alignment accuracy of the sub-INS during the main-INS and sub-INS transfer alignment process is analyzed. Firstly, digital simulation is performed, and then semi-physical simulation is performed using the data of dual-axis laser gyroscope INS and strapdown fiber optic gyroscope INS to verify the accuracy of quantitative analysis. The primary coefficient of the main-INS velocity error has a linear relationship with the horizontal attitude error of the sub-INS initial alignment, and the secondary coefficient has a linear relationship with the heading error of the sub-INS initial alignment.