基于64次序双轴旋转方案的捷联惯性导航系统OA

To mitigate the influence of the error accumulation of the inertial navigation system(INS)over time,an improved 64-position dual-axis rotation modulation scheme was studied,and its error compensation characteristics were analyzed.Based on the principle of rotation modulation,the modulation mechanism of the constant error,scale factor error and installation error of the inertial measurement unit(IMU)was discussed.Through simulation experiments and physical experiments,the error suppression effects of the 16-position,32-position and 64-position rotation schemes were compared.The 48-hour simulation showed that compared with the 16-position scheme,the latitude error and longitude error of the 64-position scheme were reduced by 60.9%and 66.2%,respectively,the east velocity error and north velocity error were reduced by 64.7%and 67.3%,respectively,and the roll angle error,pitch angle error and yaw angle error were reduced by 68.3%,62.0%and 61.4%,respectively.The 24-hour experiment further verified the optimization effect of the scheme in terms of latitude and longitude errors,velocity errors and attitude errors,among which the yaw angle error was reduced by 24.0%compared with the 16-position scheme,verifying the effectiveness of the scheme.