中文摘要：

针对平台式惯导系统进行综合校正时须要限制载体低速和等纬度的问题,提出了基于惯性坐标系下的捷联式惯导系统的综合校正技术.由于两点校需要精确的方位信息,但受安装偏差等影响,实际信息精度不能保证,因此采用三点校算法.利用间歇获得的外部位置信息,建立其与陀螺漂移和方位误差的关系式,再利用最小二乘法算出陀螺漂移并进行方位误差补偿.通过理论和实验分析表明：当捷联惯导系统工作在水平阻尼状态下时,三点综合校正方法不受载体运动和纬度变化的影响,能够准确地对位置和方位误差进行补偿,进而显著提高惯导系统的长期定位精度.

英文摘要：

For platform inertial navigation system,the carrier should be limited under the state of low speed and same latitude when comprehensive correction.In order to solve this problem,the comprehensive correction technology of strapdown inertial system（SINS）based on inertial coordinate system was proposed.For traditional two point comprehensive correction algorithm which needed the accurate azimuth information,but because of the installation deviation,the accurate azimuth information could not be deserved,algorithm of three point comprehensive correction was employed.The relationship between of gyro drifts and azimuth errors could be developed based on intermittent external position information,and the least square algorithm was used to evaluate gyro drifts and compensate azimuth errors.Theoretical and experimental analysis show that when the SINS works under the state of horizontal damping,three point comprehensive correction method would not be affected by the carriers′ motion state and could compensate azimuth error accurately,thus significantly improving positioning accurate of low precision SINS.