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一阶马尔科夫过程是描述陀螺低频随机噪声的主要模型之一,对惯性导航系统精度具有重要影响。首先研究了惯性导航系统中陀螺随机误差传播特性分析的一般方法,推导了惯性导航系统的冲击响应函数。继而结合一阶马尔科夫过程的统计特性,推导了其作为陀螺随机误差在惯性导航系统长时间导航环境中的误差传播公式,分析了其对系统姿态、位置精度的影响。最后对陀螺一阶马尔科夫过程引起的惯性导航系统误差进行了仿真,对理论结果进行了验证。论文的研究对于惯性导航系统的优化设计与误差分析具有一定的参考价值。
The first-order Markov process is one of the main models to describe the low-frequency random noise of gyroscopes and has an important influence on the accuracy of inertial navigation system. Firstly, the general method of gyroscopic random error propagation in inertial navigation system is studied, and the impulse response function of inertial navigation system is deduced. Combined with the statistical characteristics of the first-order Markov process, the error propagation error of gyro as a gyro-navigation system in long-time navigation is deduced, and its influence on system attitude and position accuracy is analyzed. Finally, the inertial navigation system error caused by the gyroscope first-order Markov process is simulated, and the theoretical results are verified. The research of the paper has certain reference value for the optimization design and error analysis of inertial navigation system.