混合式惯性导航系统全数字平台技术研究

To simplify the platform structure of hybrid inertial navigation system and improve its reliabi-lity, a full digital platform is designed, including the structure and working modes. An algorithm of control command is designed to realize the new working mode of stabilization and rotation, and the calculation process from the original output data of gyroscopes to the angular velocity of motors is proposed. The algorithm is demonstrated in a prototype of hybrid inertial navigation system. The results indicate that, in stabilization and rotation mode, the control precision of digital platform is better than 2" in stationary state and better than 30" during moving.