在基于激光陀螺(RLG)的单轴旋转惯性导航系统中,由于惯性测量单元(IMU)绕z轴旋转,使得水平方向的惯性元件的误差量能在很大程度上自动对消,因此系统的导航精度主要由z向陀螺的零偏估计精度决定。提出了一种基于姿态解算的z向陀螺零偏的估计方法,并进行了理论分析与实验论证。实验结果表明,能有效地估计出单轴旋转惯性导航系统的z轴零偏值,使系统达到较高的导航精度。

In the single-axial rotation inertial navigation system using ring laser gyro (RLG),the errors of the inertial elements can be counteracted automatically because of rotating around the z-direction axis of inertial measurement unit (IMU),so the performance of single-axial rotating inertial navigation system is mostly determined by the estimate precision of z-direction gyro drift. A method to estimate the drift of z-direction gyro based on attitude determination is put forward in this paper,and the theoretical and experimental results are obtained. The experiments show that this method in this paper can estimate the drift of z-direction gyro efficaciously,and the result of navigation is excellent.