Angular Rate Optimal Design for the Rotary Strapdown Inertial Navigation System
Angular Rate Optimal Design for the Rotary Strapdown Inertial Navigation System
复制标题
旋转捷联惯性导航系统角速率优化设计
DOI：
10.3390/s140407156
复制
发表时间：
2014-04-01
期刊：
影响因子：
3.9
通讯作者：
Sun, Qian
中科院分区：
文献类型：
--
作者：
Yu, Fei;Sun, Qian
旋转式捷联惯性导航系统（RSINS）由于具有精度高、持续时间长的特点，在潜艇和水面舰艇上得到了广泛的应用。目前，旋转方案这一核心技术已被众多研究者所研究。旋转角速率作为误差调制的关键技术之一，严重影响着误差调制的有效性。为了设计RSINS的最佳旋转角速率，基于拉普拉斯变换和拉普拉斯逆变换，详细分析了RSINS的旋转角速率与速度误差之间的关系。分析结果表明，惯性导航系统的速度误差不仅与传感器误差有关，还与旋转角速率有关。为了使速度误差最小化，RSINS的旋转角速率应与传感器误差相匹配。本文还提出了一种惯性导航系统转速的优化设计方法。仿真和实验结果验证了该方法的有效性和优越性。
Due to the characteristics of high precision for a long duration, the rotary strapdown inertial navigation system (RSINS) has been widely used in submarines and surface ships. Nowadays, the core technology, the rotating scheme, has been studied by numerous researchers. It is well known that as one of the key technologies, the rotating angular rate seriously influences the effectiveness of the error modulating. In order to design the optimal rotating angular rate of the RSINS, the relationship between the rotating angular rate and the velocity error of the RSINS was analyzed in detail based on the Laplace transform and the inverse Laplace transform in this paper. The analysis results showed that the velocity error of the RSINS depends on not only the sensor error, but also the rotating angular rate. In order to minimize the velocity error, the rotating angular rate of the RSINS should match the sensor error. One optimal design method for the rotating rate of the RSINS was also proposed in this paper. Simulation and experimental results verified the validity and superiority of this optimal design method for the rotating rate of the RSINS.