Abstract:

In order to analyze the navigation attitude error of the vehicle inertial navigation system （INS） with a large inclination angle， in this paper， it is proposed that the non-verticality of the turntable shaft is the error source of navigation attitude under a large inclination angle condition. The theoretical formula of navigation attitude error related to the attitude angle of the vehicle INS and the non-verticality of the turntable shaft when vehicle INS with a large inclination angle works is evolved， and the simulation and physical verification are implemented. Study results show that under the condition of a large inclination angle， the azimuth error of the INS with a large inclination angle is the tangent obtained by making the pitch angle multiply the non-verticality of the turntable shaft modulated by the azimuth angle. The roll error is the cosine obtained by making the non-verticality of the turntable shaft modulated by the azimuth angle divided by the pitch angle. The pitch angle error is the modulated non-verticality of the turntable shaft and has no relation with the pitch angle of INS. The navigation azimuth error and roll error increase obviously at a large pitch angle when the turntable shaft is non-vertical. The navigation attitude error of INS presents 360° periodic variation and is independent of the INS roll angle.

Key words: vehicle INS（inertial navigation system）, large inclination, attitude error, non-verticality, turntable, navigation

摘要：

为了分析车载惯导大倾角下的导航姿态误差，提出了大倾角状态下转台方位轴不铅垂度是导航姿态误差的误差源；推导出车载惯导大倾角工作时导航姿态误差与惯导姿态角及转台不铅垂度相关的理论公式，并进行了仿真和实物验证。研究结果表明，大倾角状态下惯导导航输出的方位角误差是转台不铅垂度受方位调制后乘以俯仰角的正切值，橫滚角误差是转台不铅垂度受方位调制后除以俯仰角的余弦值，俯仰角误差是转台不铅垂度受方位调制的结果，与惯导俯仰角大小无关，转台存在不铅垂度时，大俯仰角下导航方位角和横滚角误差明显增大。惯导导航姿态误差呈现360°周期变化的规律且与惯导横滚角大小无关。

关键词: 车载惯导, 大倾角, 姿态误差, 不铅垂度, 转台, 导航