摘要
针对现有惯导采用正交配置方案导致可靠性不高以及导航误差随时间累积较快的问题,提出了一种四陀螺冗余配置的单轴旋转捷联惯导方法。通过器件级冗余技术,基于可靠性提高最大、导航特性最优以及单故障时精度更好的原则,设计了一种四陀螺对称斜置方案。在此基础上,鉴于单轴旋转调制转轴垂直方向上器件常值漂移的优势,创新性的提出了将冗余配置和单轴旋转调制相结合的冗余式单轴旋转惯导方法,文中给出了具体的设计方法和设计过程。仿真结果表明:系统可靠性较传统正交配置提高75%,定位精度较无旋转调制系统提升32%。提出的新方法不仅能同时提升系统导航精度和可靠性,而且配置结构中陀螺仪对称分布,便于安装、标校,易于工程实现。
A single-axis rotational modulation SINS method based on four-gyro redundancy configuration is designed to solve the problem that the reliability of orthogonal configuration is not high and the navigation error is accumulated with time increasing quickly. For getting highest reliability,best navigation performance and higher precision under single fault condition,a four-gyro symmetrical and sideling redundancy configuration is proposed in a device level technology. Due to the advantage of single-axis rotational modulation for decreasing the constant device drift in the vertical direction,the redundancy configuration is combined with rotational modulation method creatively. The design method and process are also given in detail. The results show that the reliability of SINS can be increased by 75 % and the positioning precision can be improved by 32 %. The new method can improve navigation precision and reliability. Meanwhile,the gyroscopes in the configuration are symmetrical with easy installation,calibration and engineering implementation.
出处
《传感器与微系统》
CSCD
2016年第11期64-67,共4页
Transducer and Microsystem Technologies
基金
国家自然科学基金资助项目(61374007
61633008
61104036
61273081)
中央高校基本科研业务费项目(HEUCFX41309)
关键词
冗余配置
单轴旋转调制
可靠性
精度
捷联惯导技术
redundancy configuration
single-axis rotational modulation
reliability
precision
SINS technology
