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基于旋转调制的自补偿技术是进一步提高激光陀螺仪捷联惯导系统导航精度的有效方法。研究了旋转调制捷联惯导系统中的激光陀螺仪误差补偿方法。建立旋转式捷联惯导系统激光陀螺仪的误差传播方程,分析激光陀螺仪旋转误差效应及误差传播特性,在此基础上建立了调制策略编排目标函数;研究了双轴交替旋转调制模式下的调制策略编排方案,提出了一种改进的16次序双轴交替旋转调制方法,建立了基于双轴转动角速度的动态误差方程,实现了转动过程中激光陀螺仪的常值项误差、标度因数误差、安装误差的有效补偿,进一步抑制速度误差积累所引起的位置误差。仿真结果验证了该方法的有效性,提高了捷联惯导系统导航精度,可为旋转调制光学捷联惯导系统设计提供理论参考。
The self-compensation technique based on rotation modulation is an effective method to further improve the navigation precision of SINS. The method of laser gyro error compensation in SINA rotary modulation system is studied. The error propagation equation of gyroscope in SINS is set up, and the gyroscope error and error propagation characteristics are analyzed. Based on this, the objective function of modulation strategy is established. In the case of biaxial alternating rotation modulation mode Modulation strategy is proposed. An improved 16-order sequential biaxial rotation modulation method is proposed, and a dynamic error equation based on biaxial rotational angular velocity is established. The error of the constant value of the laser gyro, the error of the scale factor , The installation of effective compensation for error, to further suppress the speed error caused by the accumulation of position error. The simulation results verify the effectiveness of the proposed method and improve the navigation accuracy of the strapdown inertial navigation system, which can provide a theoretical reference for the design of the rotating modulated optical strapdown inertial navigation system.