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中文摘要：
捷联惯性导航系统（SINS）中随时间变化的陀螺常值漂移是导致SINS导航误差的主要因素之一。在现有全监控方法的基础上,提出一种改进的在线测量SINS陀螺常值漂移的方法。利用短时间内监控陀螺常值漂移变化缓慢的特点,改进监控陀螺的旋转方案,在减少监控陀螺旋转次数提高效率的同时保证陀螺常值漂移的测量精度。详细介绍了其原理并进行了理论推导和误差分析,最后通过陀螺全监控和惯性导航半物理仿真实验验证了其有效性。仿真结果表明,该方法有效降低了实施的复杂性,同时使监控补偿后的陀螺漂移减小了一个数量级（均方根）,惯性导航平面位置精度提高了近5倍。
英文摘要：
Gyro constant drift that changes with time is one of the main factors of navigation error in strapdown inertial navigation system（SINS）.An improved method based on existing all-monitor method for measuring gyro constant drift on line is proposed.The characteristic that gyro constant drift changes slowly in short time is used to improve the rotation scheme of the monitor gyro.The rotation times of the monitor gyro are decreased and the measurement precision is ensured at the same time.The principle and error analysis of this method are presented in detail.All-monitor of gyro and inertial navigation semi-physical simulation were carried out.Simulation results show that this method can reduce the complexity of monitor effectively,the error of gyro drift is decreased by one order of magnitude（RMS） and the inertial navigation position accuracy is improved almost by five times.
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