Error analysis on lever-arm effect based on strapdown inertial navigation system

LI Peng-fei1; BEN Yue-yang2; ZHANG Ya2; SUN Qian2

doi:10.13873/j.1000-97872012.03.014

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Error analysis on lever-arm effect based on strapdown inertial navigation system

更新时间：2025-09-11

- Error analysis on lever-arm effect based on strapdown inertial navigation system
- Vol. 31, Issue 3, Pages: 53-55(2012)
- 作者机构：
  
  1. 海军装备部舰艇部
  2. 哈尔滨工程大学自动化学院
- 作者简介：
- 基金信息：
- DOI：10.13873/j.1000-97872012.03.014
  CLC： U666.1
- Published：2012
- 稿件说明：
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[1]李鹏飞,奔粤阳,张亚,孙骞.基于捷联惯导系统的杆臂效应误差分析[J].传感器与微系统,2012,31(03):53-55.

LI Peng-fei1, BEN Yue-yang2, ZHANG Ya2, et al. Error analysis on lever-arm effect based on strapdown inertial navigation system[J]. 2012, 31(3): 53-55.
[1]李鹏飞,奔粤阳,张亚,孙骞.基于捷联惯导系统的杆臂效应误差分析[J].传感器与微系统,2012,31(03):53-55. DOI： 10.13873/j.1000-97872012.03.014.

LI Peng-fei1, BEN Yue-yang2, ZHANG Ya2, et al. Error analysis on lever-arm effect based on strapdown inertial navigation system[J]. 2012, 31(3): 53-55. DOI： 10.13873/j.1000-97872012.03.014.

摘要

随着捷联惯导系统的发展

对惯性导航精度和快速性的要求越来越高。而快速性主要取决于初始对准时间。传统的初始对准方法具有一定的局限性

而传递对准是一种新型的、快速的初始对准方法。主要分析了传递对准方法中的速度匹配方法

在此基础上推导了杆臂效应的基本原理。最后通过仿真得到

存在杆臂效应时

航向失准角估计误差稳态值为-0.5°;通过实船实验得到

存在杆臂效应时

俯仰、横滚和航向角的失准角估计误差分别为-0.22°

-0.37°

-0.35°

从而验证了杆臂效应误差对失准角的影响。

Abstract

With the development of strapdown inertial navigation system

the demand for the precision and speediness of inertial navigation is becoming higher and higher.The speediness depends on the initial alignment time.Compared with the restricted traditional initial alignment

transferring alignment is a new kind of quick initial alignment method.The velocity matching transfer alignment method is analyzed.The principle of the lever-arm effect is derived on this basis.The simulation result shows that the stable yaw misalignment angle is-0.5°.The experiment shows that pitch misalignment angle is-0.22°;roll misalignment angle is-0.37°;yaw misalignment angle is-0.35°.So the influence of the lever-arm effect error on misalignment angle is verified.

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references

一种快速传递对准方法的误差模型研究 [J]. 戴邵武,李娟,戴洪德,周绍磊,陈明. 宇航学报 . 2009(03)

捷联惯性导航系统传递对准的杆臂效应分析 [J]. 江红,张炎华,赵忠华. 中国造船 . 2006(04)

捷联惯性导航系统传递对准技术研究现状及发展趋势 [J]. 刘毅,刘志俭. 航天控制 . 2004(05)

平台惯导系统中杆臂效应误差的研究与分析 [J]. 何秀凤,袁信. 航天控制 . 1995(02)

传递对准误差补偿及精度评估方法研究 [D]. 李良君. 哈尔滨工程大学 2008

捷联惯导系统原理[M]. 宇航出版社 , 陈哲编著, 1986

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