为了研究单轴旋转惯导系统的高度通道误差抑制方法, 首先分析了纯惯导高度通道的稳定性, 并通过比力方程建立了误差模型。然后推导了单轴旋转惯导系统的高度通道误差方程, 分析了抑制高度通道误差发散的条件, 得出在旋转轴处于水平状态时可以极大地抑制高度通道误差的结论。最后, 在三轴加速度计存在零偏的情况下, 对惯导系统的高度通道误差进行仿真。理论分析与仿真结果均表明旋转轴处于水平状态时可以有效抑制高度通道误差。

The suppression of altitude channel error of single-axis rotary Inertial Navigation System (INS) is studied. At first, analysis is made to the stability of altitude channel in pure INS, and an error model is established by using specific force equation. Then, the altitude channel error equation under the condition of single-axis rotary INS is established, and the conditions for suppressing altitude channel error divergence are analyzed. It is concluded that the altitude channel error can be suppressed efficiently when the rotation axis is in horizontal state. Finally, simulation is made to the altitude channel error of INS, influenced by single-axis continuous rotation under the condition that there is bias in triaxial accelerometer. Theoretical analysis and the simulation results show that the altitude channel error can be restrained effectively when the rotation axis of inertial measurement unit is in horizontal state.