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中文摘要：
针对舰船系泊状态特有的运动环境及惯性器件偏差对捷联系统导航精度的影响,提出一种单轴四位置旋转调制方案并建立该系统误差方程。研究了直观分析系统参数可观测性的解析方法,并运用谱条件数法计算出惯性测量单元（inertial measurement unit,IMU）在静止和旋转状态下各状态量的可观测度,利用分离位置回路的卡尔曼滤波模型实现了器件偏差的现场估计。数值仿真显示,单轴四位置转停方案可以有效地提高惯性器件偏差的可观测度,大大提高了系泊状态下惯性器件偏差的估计精度。
英文摘要：
According to the marine＇s mooring condition and the influence of the inertial elements bias on the navigation precision,a single-axis indexing scheme with four positions and the systematic error function are proposed.The analytic method which is used to analyse the observability of parameters directly is researched.The degree of observability for strapdown inertial navigation systems is computed in the context of resting and rotating inertial measurement units respectively with the spectral condition number theory,and the field estimation of inertial bias is achieved by the introduction of Kalman filter with the position loop isolation.Finally,numerical simulations show that the degree of observability for inertial bias can be improved effectively,and the estimation precision can also be improved greatly.
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