中文摘要：

惯性传感器的随机误差是惯性导航系统的主要误差源,直接决定着惯性导航的精度,因此在系统运行前必须对惯性传感器的随机误差进行分析和建模。分析了惯性传感器具有的典型误差项并且介绍了基于时域和频域分析方法的原理,利用两种方法对惯性器件的各个误差项进行辨识。通过对CMIGITISⅡ惯性传感器实测长时间静态数据进行处理和分析,试验验证了两种分析方法可以有效地对惯性传感器的各误差进行辨识,对提高基于惯性导航的组合导航系统的精度具有重要的意义。

英文摘要：

Inertial sensor stochastic errors are the critical error source of the inertial navigation system,which generally determines the precision of the inertial navigation system. Therefore,the identification and modelling for the stochastic errors must be operated before applications. In this paper the typical error items of inertial sensor were analyzed,and then the principle and algorithm of the time-domain and frequency-domain methods were introduced. Lastly,experiments were carried out to process the long-term static data acquired from Boeing CMIGITS II inertial sensors. Results show that the time-domain and frequency-domain methods can effectively recognize the errors of inertial components which can be used to improve the performance of the integrated navigation system based on inertial navigation system.