中文摘要：

讨论了线性时变状态空间模型的求解方法,针对惯性导航旋转误差抑制问题,对建立的齐次时变模型进行转化,得到等价的非齐次定常模型。求解该模型,并推导了单向旋转和往复旋转条件下,由陀螺漂移激励的导航误差的解析表达式;利用线性系统的可加性,分析了转动对于其它误差源抑制的可行性;此外,还指出了转动条件下的误差谐振旋转频率。通过设计仿真模型,对比了静态和转动条件下的导航误差,表明针对该时变系统的求解方法有效,惯性导航动态误差分析导出的结论正确,为高精度航海导航系统的工程实现提供了有益的理论指导。

英文摘要：

The solving method of linear time-varying state-space model is discussed.In order to restrain the error of rotating inertial navigation system,a homogenous time-varying model is established and transformed into an equivalent non-homogenous time-invariant model.The analytic expressions of the gyro-bias-stimulated navigation errors are deduced under the conditions of single-direction and reciprocating rotations,respectively.Using the additivity of the linear system,the feasibility of restraining other error sources by rotating is analyzed,and the resonance frequencies of errors are presented.The static and dynamic navigation errors are compared with a simulation model.The results show that the proposed method for the time-varying system is effective.And the conclusion of dynamic error analysis is correct,which provides useful theoretical references for the engineering realization of high-accuracy navigation system.