一种旋转式惯导双轴同时连续旋转策略

In the rotation inertial navigation system, the rotation strategy significantly impacts navigation accuracy. Currently, commonly used rotation strategies involve rotating only one axis at a time, which prevents the simultaneous modulation of errors in all three axes. This restriction hinders further improvements in long-endurance navigation accuracy. Addressing this issue, a dual-axis continuous rotation strategy capable of concurrently modulating constant and slowly varying errors in all three axes is proposed. Firstly, the rotation modulation mechanism of the proposed strategy is analyzed theoretically, and the principles of angular velocity setting is outlined. A dual-axis continuous rotation strategy adhering to these principles can modulate inertial sensor errors in all three axes into non-accumulative periodic terms. Subsequently, the navigation results of the proposed rotation strategy and the dual-axis rotation strategy are compared through simulations and experiments. The experimental results demonstrate that adopting the dual-axis continuous rotation scheme respectively reduces the maximum radial position error and the maximum radial velocity error by 39% and 28% on average compared to using the dual-axis repositioning scheme over a 24-hour period.