1、光纤/激光陀螺惯性测量装置设计流程示意图5V15V，ie1xxxyyzzfxSMMBngxgxYgxZgxbbbibgyXgygyZibgygibggzXgzYgzgzKMMBMKMBMBMMKBaxaxYaxZaxbbbayXayayZayaaazXazYazazKMMBfMKMfBM fBMMKBIMU各轴朝向位置1X轴Y轴Z轴点11天东北点12天南东点13天西南点14天北西IMU各轴朝向位置2X轴Y轴Z轴点21地东南点22地南西点23地西北点24地北东1i1,.4,/42i5,.8,/4.6i21,.24,/4FNijNijFNijNijFNijNij，j，j，jjojxjxyjyzjz
2、NKK AK AK A0()/cos(,)cos(,)cos(,)jjjxyzNKKAj xAj yAj zjojxjxyjyzjzNKK AK AK A0()/cos(,)cos(,)cos(,)jjjxyzNKKAj xAj yAj zojK/xjyjzjKKKjK/xyzAAAcos(,),cos(,),cos(,)j xj yj zjojxjxyjyzjzNKK AK AK A0()/cos(,)cos(,)cos(,)jjjxyzNKKAj xAj yAj z(1,)(2,).(6,)100100100100100100jFFjFjFjgggAgggojxjyjzjKKKKK原方程为
3、原方程为iFAK1jKA F回归系数为回归系数为1,2,3,6,/6ojKFjFjFjFjxj0yj0zj0(1,)(4,)/2/(2,)(5,)/2/(3,)(6,)/2/KFjFjGKFjFjGKFjFjG222jxjyjzjKKKKcos(,)/cos(,)/cos(,)/xjjyjjzjjj xKKj yKKj zKK/cos(,)cos(,)cos(,)iioixixyiyzizxyzNKDD AD AD Aj xj yj ziN为敏感测量轴i单位时间的输出iK为敏感测量轴i的当量oiD为测量轴i的零次项漂移系数；/xiyiziDDD为分别 由引起并与其成正比，作用在测量轴i上的一次
4、项漂移系数/xyzAAAiK123456/720/3600/720/3600/720/3600 xiiiyiiiziiiKNNKNNKNN1222ixiyiziKKKKcos(,)/cos(,)/cos(,)/xiiyiiziii xKKi yKKi zKK0/ixiyiziDDDD0/ixiyiziDDDD(6,)/cos(,)cos(,)cos(,)(1,2,3)ioixixyiyzizxyzFiKDD AD AD Ai xi yi z ii(1,)/sincos(,)(2,)/sincos(,)(3,)/sincos(,)(1,)/sincos(,)(2,)/sincos(,)(3,)/
5、sincos(,)ieieieieieieFiKi xFiKi yFiKi zFFiKi xFiKi yFiKi z100100100100100100gggAgggoixiyiziDDDDDiFAD1iDA Fi（=1,2,3）(1,)(2,)(6,)/6(1,)(4,)/2sincos(,)(2,)(5,)/2sincos(,)(3,)(6,)/2sincos(,)oixieyiezieDFiFiFiDFiFii xDFiFii yDFiFii z1bxxxyxzaxxbyyxyyzayybzzxzyzazzfaSFaMAaMAfaBfaMAaSFaMAfaBfaMAaMAaSFfaB、a
6、xfayfazfbxfbyfbzfxaByaBzaB1bxxxyxzaxxbyyxyyzayybzzxzyzazzfaSFaMAaMAfaBfaMAaSFaMAfaBfaMAaMAaSFfaB 、xaSFyaSFzaSFxyaMAxzaMAyxaMAyzaMAzxaMAzyaMA(12)/2xaBfxfx(34)/2yaBfyfy(56)/2zaBfzfz(12)/2xaSFfxfxg(34)/2yaSFfyfyg(56)/2zaSFfzfzg(12)/2yxaMAfyfyg(12)/2zxaMAfzfzg(34)/2xyaMAfxfxg(34)/2zyaMAfzfzg(56)/2xzaMAf
7、xfxg1bxxxyxzgxxbyyxyyzgyybzzxzyzgzzgSFgMAgMAgBgMAgSFgMAgBgMAgMAgSFgB、gxgygzbxbybzxgBygBzgB1bxxxyxzgxxbyyxyyzgyybzzxzyzgzzgSFgMAgMAgBgMAgSFgMAgBgMAgMAgSFgB 、xgSFygSFzgSFxygMAxzgMAyxgMAyzgMAzxgMAzygMAWx1xgB Wy2ygB Wz3zgB 0121(WxWx)MjjjxMjjgSF 150-150(Wyx-(Wyx)/(2*150)yxgMA150-150(Wzx-(Wzx)/(2*150)zxgMA0TTDDD TD TD0D,TTDDTT011rrTiiiTiiiDDDTDT,iiT T,TiTiDDD00()TDDD TTT0T1T2T1T2T121201212TTTTDDD TD TD TD T(1,2,3,4)TiDi 123(,)T T T312(,)dTdTdTdtdtdt33011iiTiiTiiDDDTDT(1,2,3)TiTiDDi，2300102030()()()()K TTTTTTT0K00T123,1K01,1010()()K TTT
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