一种基于实测飞行轨迹的惯导误差分析方法研究

针对传统蒙特卡罗仿真方法用于惯导误差分析时计算量大且参数调整不便的问题，提出了采用Kalman滤波的状态均方误差预测公式结合惯导误差传播方程进行误差协方差分析的新方法。该方法将惯导总误差分解为各种不同误差因素的线性组合，且各误差因素之间是相互独立的，误差计算和参数调整都非常简单方便。以一组实测飞行轨迹数据为例，利用所提协方差分析方法进行误差分解，并将结果以多种形式直观展示，显示了新方法在误差分配和精度评估中的优越性。

Covariance analysis for INS errors based on in-field measured flight trajectory

Aiming at the problem of large amount of calculation and inconvenience of parameter adjustment when the traditional Monte Carlo simulation method is used in inertial navigation error analysis, a method of inertial navigation error covariance analysis using Kalman filter state mean square error prediction formula combined with inertial navigation error propagation equation is proposed. The new method decomposes the navigation error into linear combinations of various error factors. The error factors are independent of each other, and the error calculation and parameter adjustment are very simple and convenient. Taking an in-field measured trajectory as an example, the proposed covariance analysis method is used to decompose the error and the results are visually display in various forms, which shows the advantages of the new method in error distribution analysis and navigation precision evaluation.