激光陀螺惯性导航系统旋转技术综述

旋转技术能够有效调制激光陀螺和加速度计的误差，提高惯性导航系统的精度。首先基于惯性测量单元的误差模型，分析了旋转技术的基本原理。然后对旋转技术的旋转方案、最优转动速率、旋转机构误差对系统精度的影响、载体角运动对旋转效果的影响、采用旋转技术的惯导解算、采用旋转技术的初始对准与测漂等进行了综述，探讨了我国研究旋转技术的重点研究方向，为开展我国旋转式光学陀螺惯导系统的研究提供了一定参考。

Review of Rotation Techniques for Inertial Navigation System Based on Ring Laser Gyro

The errors of ring laser gyros (RLG) and accelerometers can be modulated effectively into periodically varied signals, and, as a result, to improve the accuracy of inertial navigation system (INS). Firstly, the principle of single-axis rotation technique is analyzed theoretically based on the measurement error model of inertial measurement unit (IMU). And then, the rotation scheme, the optimization rotation rate, the influence of rotation platform errors on INS accuracy, the effect of vehicle angle motion on rotation technique, the navigation computation scheme, the alignment and calibration are summarized and analyzed. The future developments of internal rotation technique are discussed. It can afford the useful reference for rotation technique research of internal RLG INS.