中文摘要：

针对捷联惯性导航系统（SINS）中陀螺常值漂移存在逐次启动误差以及逐日漂移变化的问题，提出一种捷联状态下在线实时消除陀螺常值漂移的方法，通过附加一个监控陀螺，实现对SINS中导航陀螺常值漂移的在线测量与补偿。文中给出了该方法的理论推导，并进行了误差分析。半物理仿真结果表明，该方法能够自主地在线测量SINS中导航陀螺逐次启动后的常值漂移量及其缓慢变化，并能够获得误差小于0．02Vh的陀螺常值漂移，可据此进行陀螺常值漂移的在线实时补偿，有效克服陀螺性能变化对SINS系统精度的影响，提高了SINS的精度。

英文摘要：

Aiming at the error of gyro drift at every start and the slow change in the strapdown inertial navigation system （SINS） , a new method for eliminating the gyro constant drift on line is proposed. The gyros constant drifts in SINS can be measured and compensated by installing a monitor gyro. The principle of the method and the error analysis are presented. Simulation results illustrate that this method can measure gyro constant drift and its slow change, the error of gyro constant drift measured using this method is less than 0.02 ^o/h. The influences of gyro constant drift on SINS are eliminated using this method; moreover the gyros constant drifts are compensated in navigation state, so the navigation precision of SINS is improved effectively.