半球谐振陀螺旋转惯导系统误差抑制机理研究

为了优化半球谐振陀螺旋转惯导系统设计、合理分配系统误差，本文分别从局部和全局角度出发，系统分析了旋转惯导系统在静基座条件下的误差传播规律。利用局部分析法讨论了旋转对惯性器件常值误差、标度因数误差以及安装误差的抑制情况，讨论了调制速度与陀螺仪标度因数误差、安装误差耦合所产生误差的特点，给出了组建旋转惯导系统时惯性元件的选择准则；利用全局分析法推导了多误差源同时激励下旋转惯导系统的误差传播模型，得到了导航误差的时域解析表达式。最后通过仿真验证了理论分析的正确性。研究结果为半球谐振陀螺旋转惯导系统的工程设计、改进提供一定的理论支持。

Depression Mechanism of Systematic Errors for HRG-Based Rotating Inertial Navigation System

To optimize the design of a HRG-based rotating inertial navigation system and allocate systematic errors properly,the error propagating rule of rotating inertial navigation system in static condition is analyzed systematically from local and global viewpoints. The depression of rotating on constant errors,scale factor error and misalignment errors is discussed locally,and the coupling error between modulating rate and errors of scale factor and misalignment of gyro is studied,and a criterion for selecting i...