分析了激光陀螺惯性测量单元(IMU)单轴旋转自动补偿原理,建立了单轴旋转式捷联惯导系统数学模型,通过分析惯性测量组件的误差模型和旋转式捷联系统误差传播方程,解释了误差补偿机理.针对船用惯性导航系统的应用要求,设计了基于四位置转停的船用激光陀螺捷联式惯性导航系统,对导航系统的总体方案、原理方案和转位方式进行了论述,通过仿真验证了设计方案的有效性.%The auto-compensation principle of the single-axial rotation ring laser gyroscope inertial measurement unit (IMU) was introduced. The math model of the single-axial rotation SINS was established. By analyzing the error model of IMU and the navigation error propagating function, the mechanism of error compensation method was illustrated. Which the ring laser gyroscope strapdown inertial navigation system (SINS) based on four-position rotation scheme was designed with respect to the applied demand of SINS on ship. The overall, principle and rotation scheme of navigation system was discoursed. The effectiveness of design was verified depended on simulation.
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