中文摘要：

推导了用于地球表面导航的船用空间稳定型惯导系统误差方程,通过求解静基座状态下的系统误差方程,分析了各类误差源对空间稳定型惯导系统的影响.理论分析及系统仿真实验表明各误差源中只有陀螺常值漂移会引起随时间而发散的误差,其他误差源只引起周期性振荡误差和常值误差,并且空间稳定型惯导系统的位置误差和速度误差以舒勒频率和地球频率进行传播.

英文摘要：

An error propagation model of shipbome space stabilized inertial navigation system （SS1NS） was derived in this paper. According to the analysis of system error equations on the stationary base, the impact of different error sources on SSINS was studied. Theoretical analysis and simulation results show that only gyro constant drift can cause the system error accumulating as time goes while other error sources only have direct impacts on the periodic oscillation errors and constant errors. Besides, the results demonstrate that position error and velocity error of SSINS propagate at the frequency of Schuler cycle and earth cycle. In addition, the causes of Schuler cycle and earth cycle generating in SSINS were also analyzed.