CN103884356A - Method for calibrating combination of strapdown inertial combination gyroscope - Google Patents

Abstract

The invention discloses a method for calibrating the combination of a strapdown inertial combination gyroscope. The method comprises the steps of after the scale factor and the installation error angle of the combination of the gyroscope are known, carrying out significance analysis on the quadratic term coefficient in an error model without a zero order term by sequentially measuring the output values of the strapdown inertial combination at eighteen positions to obtain an actual error model of the gyroscope related to apparent acceleration; calculating all coefficient values in the error model by a calculation formula. Compared with other error coefficient calibration methods, the method can be used for obtaining the error term model of the gyroscope related to apparent acceleration within three coordinate axes of the strapdown inertial combination, and calibrating the error terms of the combination of the gyroscope related to apparent acceleration, thus improving the degree of accuracy of the error model; furthermore, the calibrating process is simple and the needed time is short.

Description

A kind of method of demarcating the combination of strap down inertial navigation combination gyroscope

Technical field

The present invention relates to a kind of error coefficient scaling method, relate in particular to a kind of method of demarcating the strap down inertial navigation combination gyroscope combination error coefficient relevant with apparent acceleration, belong to strap down inertial navigation combination calibration technique, can be used for demarcating the occasion of gyroscope combination.

Background technology

Gyroscope is the core component of inertia system, for angular displacement or the angular velocity in sensitive carrier relative inertness space, the performance of inertia system is played a part crucial, is one of key content of inertial technology research.In order to measure motion angular velocity and the angular displacement of carrier in space completely, in strap down inertial navigation combination, three mutually perpendicular gyroscopes of sensitive axes are housed, its sensitive axes direction is pointed to the X, Y, Z axis positive dirction of strap down inertial navigation combination definition.Because during earth rate uses with respect to gyroscope is actual, the angular velocity of induction is less, so can use speed trial to demarcate constant multiplier and the alignment error angle of gyroscope combination.Combine in gyroscope combination error model except these two kinds of error terms at strap down inertial navigation, the apparent acceleration that gyroscope output size is born with it is also relevant, error model comprised zero degree item, once, four kinds of quadratic term and cross-couplings items, generally demarcate this class error term with multi-position test.But in theory, zero degree item and 3 quadratic term linear dependences, when calculate this 4 numerical value in an equation time, correct value can cannot be obtained simultaneously, so general scaling method can only calibrate zero degree item relevant with apparent acceleration in gyroscope combination and the coefficient of item once, cannot calibrate quadratic term, also can not demarcate cross-couplings item coefficient.This scaling method calibrates reduction the validity of coefficient, and while causing carrier to be in non-measured angular speed, deviation appears in calculation result.Therefore, in order to calibrate all error term coefficients relevant with apparent acceleration in strap down inertial navigation combination gyro error model, and improve the precision of calibration coefficient, need to study a kind of novel gyroscope combination error calibrating method.

Summary of the invention

The technical matters that the present invention solves is: the deficiency that overcomes existing scaling method, a kind of method of demarcating the combination of strap down inertial navigation combination gyroscope is provided, realize the demarcation to all error coefficients in the gyroscope combination error model relevant with apparent acceleration, solve the problem that quadratic term coefficient cannot be demarcated, improved the precision that inertial navigation resolves.

Technical solution of the present invention is: a kind of method of demarcating the combination of strap down inertial navigation combination gyroscope, and step is as follows:

(1) strap down inertial navigation combination is statically placed in to 18 positions, in the time of i position, gathers the combination of X, Y, Z axis gyroscope and pass through the pulse number G that Δ t exports second _x(i), G _yand G (i) _z(i), i ∈ [1,18] wherein;

(2), according to the pulse number of exporting through Measuring Time Δ t in step (1), utilize known gyroscope combination constant multiplier, alignment error angle factor and rotational-angular velocity of the earth to calculate the offset ω of each position j axle _b-ji, wherein, j is X, Y or Z;

(3) strap down inertial navigation combination gyroscope error model relevant with apparent acceleration on j direction of principal axis is ω ' _j=D _0j+ D _1ja _x+ D _2ja _y+ D _3ja _z+ D _4ja _x ²+ D _5ja _y ²+ D _6ja _z ²+ D _7ja _xa _y+ D _8ja _ya _z+ D _9ja _xa _z, according to the offset of 18 the position j axles of gyroscope combination that obtain in step (2), utilize formula

obtain the zero degree item error coefficient D in this error model _0jinitial value D _0j-O;

Wherein, ω ' _jfor the output valve of this error model, a _x, a _y, a _zfor the apparent acceleration component in X, Y, Z axis direction respectively; D _0jfor strap down inertial navigation combination gyroscope zero degree item error coefficient; D _1j, D _2j, D _3jfor strap down inertial navigation combination gyroscope combination once the error coefficient relevant with apparent acceleration; D _4j, D _5j, D _6jfor the strap down inertial navigation combination gyroscope combination quadratic term error coefficient relevant with apparent acceleration; D _7j, D _8j, D _9jfor the strap down inertial navigation combination gyroscope combination cross-couplings item error coefficient relevant with apparent acceleration; J is X, Y or Z;

(4) according to the initial value of the zero degree item error coefficient in the error model relevant with apparent acceleration of strap down inertial navigation combination gyroscope combination on the j direction of principal axis obtaining in the offset of 18 the position j axles of gyroscope combination that obtain in step (2) and step (3), calculate strap down inertial navigation combination gyroscope on j direction of principal axis and combine the every coefficient value in the error model that does not comprise zero degree item coefficient relevant with apparent acceleration, wherein, j is X, Y or Z;

(5) according on the j direction of principal axis obtaining in step (4) not containing the error coefficient value in the error model of zero degree item coefficient, calculate on j direction of principal axis not containing the quadratic term coefficient D in the error model of zero degree item coefficient _4j, D _5jand D _6jconspicuousness numerical value, if quadratic term coefficient significantly carries out step (6) entirely, if quadratic term coefficient be not complete significantly, carry out step (8);

(6) calculate respectively the combination of strap down inertial navigation on the j direction of principal axis gyroscope combination error model that do not comprise zero degree item coefficient relevant with apparent acceleration, do not comprise the error model of X-axis to j axle quadratic term coefficient, do not comprise the error model of Y-axis to j axle quadratic term coefficient and do not comprise the conspicuousness numerical value of the error model of Z axis to j axle quadratic term coefficient;

(7) 4 conspicuousness numerical value that obtain according to step (6), choose the error model of conspicuousness numerical value maximum as the actual error model of j axle; When the actual error model on j direction of principal axis is that while not containing the error model of zero degree item, the coefficient value calculating in step (4) is Gyro unit and is combined in the every coefficient value in error model relevant with apparent acceleration on j direction of principal axis; In the time that the actual error model on j direction of principal axis is other model, all error coefficient values in error of calculation model;

Every coefficient value in error model is fed back in the strap down inertial navigation combination gyroscope combination error model relevant with apparent acceleration, thereby complete the demarcation that strap down inertial navigation combination gyroscope combines;

(8), on the j direction of principal axis of analyzing in step (5), choose the error model of the quadratic term coefficient that does not comprise conspicuousness numerical value minimum as the actual error model on j direction of principal axis; When the actual error model on j direction of principal axis is that while not containing the error model of zero degree item, the coefficient value calculating in step (4) is Gyro unit and is combined in the every coefficient value in error model relevant with apparent acceleration on j direction of principal axis; In the time that the actual error model on j direction of principal axis is other model, all error coefficient values in error of calculation model;

Every coefficient value in error model is fed back in the strap down inertial navigation combination gyroscope combination error model relevant with apparent acceleration, thereby complete the demarcation that strap down inertial navigation combination gyroscope combines.

In described step (1), 18 positions of strap down inertial navigation combination are respectively:

Position 1: make strap down inertial navigation combination X, Y, Z axis gyroscope point to respectively test point geographic coordinate system east, sky, southern to;

Position 2: around 45 ° of X-axis forwards, now X-axis is pointed to east to the strap down inertial navigation block position in position 1,45 °, the inclined to one side sky of Y-axis energized south, 45 ° partially of Z axis energized south;

Position 3: around 180 ° of X-axis forwards, now X-axis is pointed to east to the strap down inertial navigation block position in position 2,45 ° partially of Y-axis energized north, 45 °, the inclined to one side sky of Z axis energized north;

Position 4: make strap down inertial navigation combination X, Y, Z axis gyroscope point to respectively sky, south, the Dong Fangxiang of test point geographic coordinate system;

Position 5: around 45 ° of Z axis forwards, now Z axis points to east to the strap down inertial navigation block position in position 4,45 °, the inclined to one side sky of X-axis energized south, 45 ° partially of Y-axis energized south;

Position 6: around 180 ° of Z axis forwards, now Z axis points to east to the strap down inertial navigation block position in position 5,45 ° partially of X-axis energized north, 45 °, the inclined to one side sky of Y-axis energized north;

Position 7: make strap down inertial navigation combination X, Y, Z axis gyroscope point to respectively south, east, day direction of test point geographic coordinate system;

Position 8: around 45 ° of Y-axis forwards, now Y-axis is pointed to east to the strap down inertial navigation block position in position 7,45 °, the inclined to one side sky of Z axis energized south, 45 ° partially of X-axis energized south;

Position 9: around 180 ° of Y-axis forwards, now Y-axis is pointed to east to the strap down inertial navigation block position in position 8,45 ° partially of Z axis energized north, 45 °, the inclined to one side sky of X-axis energized north;

Position 10: make strap down inertial navigation combination X, Y, Z axis gyroscope point to respectively test point geographic coordinate system north,, west to;

Position 11: around 45 ° of Z axis forwards, now Z axis points to west, 45 ° partially of X-axis energized north, 45 ° partially of Y-axis energized south to the strap down inertial navigation block position in position 10;

Position 12: around 180 ° of Z axis forwards, now Z axis sensing is western to the strap down inertial navigation block position in position 11,45 °, the inclined to one side sky of X-axis energized south, 45 °, the inclined to one side sky of Y-axis energized north;

Position 13: make strap down inertial navigation combination X, Y, Z axis gyroscope point to respectively test point geographic coordinate system west, north, local to;

Position 14: around 45 ° of X-axis forwards, now X-axis is pointed to west, 45 ° partially of Y-axis energized north, 45 ° partially of Z axis energized south to the strap down inertial navigation block position in position 13;

Position 15: around 180 ° of X-axis forwards, now X-axis sensing is western to the strap down inertial navigation block position in position 14,45 °, the inclined to one side sky of Y-axis energized south, 45 °, the inclined to one side sky of Z axis energized north;

Position 16: make ground, west, the north that strap down inertial navigation combination X, Y, Z axis gyroscope points to respectively test point geographic coordinate system to;

Position 17: around 45 ° of Y-axis forwards, now Y-axis is pointed to west, 45 ° partially of Z axis energized north, 45 ° partially of X-axis energized south to the strap down inertial navigation block position in position 16;

Position 18: around 180 ° of Y-axis forwards, now Y-axis sensing is western to the strap down inertial navigation block position in position 17,45 °, the inclined to one side sky of Z axis energized south, 45 °, the inclined to one side sky of X-axis energized north.

The offset ω of i position X, Y, Z axis in described step (2) _b-xi, ω _b-yi, ω _b-zicomputing formula be:

$\left[\begin{array}{c}{\mathrm{\ω}}_{b-\mathrm{xi}}\\ {\mathrm{\ω}}_{b-\mathrm{yi}}\\ {\mathrm{\ω}}_{b-\mathrm{zi}}\end{array}\right]=\left[\begin{array}{c}{G}_x\left(i\right)/(\mathrm{\Δt}\×K_{\mathrm{gx}})\\ G_y\left(i\right)/(\mathrm{\Δt}\×K_{\mathrm{gy}})\\ G_z\left(i\right)/(\mathrm{\Δt}\×K_{\mathrm{gz}})\end{array}\right]-\left[\begin{array}{ccc}1& E_{\mathrm{YX}}& E_{\mathrm{ZX}}\\ E_{\mathrm{XY}}& 1& E_{\mathrm{ZY}}\\ E_{\mathrm{XZ}}& E_{\mathrm{YZ}}& 1\end{array}\right]\left[\begin{array}{c}{\mathrm{\ω}}_x\left(i\right)\\ {\mathrm{\ω}}_y\left(i\right)\\ {\mathrm{\ω}}_z\left(i\right)\end{array}\right]$

Wherein, K _gx, K _gy, K _gzfor strap down inertial navigation combination gyroscope combination constant multiplier; E _xY, E _xZ, E _yX, E _yZ, E _zX, E _zYfor the alignment error angle of strap down inertial navigation combination gyroscope combination; ω _x(i), ω _y(i), ω _z(i) while being i position, rotational-angular velocity of the earth is at the component of X, Y, Z axis direction.

The implementation method of described step (4) is:

The error model that does not comprise zero degree item coefficient on j direction of principal axis is:

ω′ _j=D _1ja _x+D _2ja _y+D _3ja _z+D _4ja _x ²+D _5ja _y ²+D _6ja _z ²+D _7ja _xa _y+D _8ja _ya _z+D _9ja _xa _z

Wherein, ω ' _jfor the output valve of this error model,, its output valve is ω ' when i the position _ji=ω _b-ji-D _0j-O;

The computing formula of every coefficient is as follows:

Once the error coefficient D of X-axis to j axle _1jcomputing formula be:

$D_{1j}=\frac{1}{12}[2({\mathrm{\ω}}_{j4}^{\text{'}}-{\mathrm{\ω}}_{j16}^{\text{'}})+\sqrt{2}({\mathrm{\ω}}_{j5}^{\text{'}}-{\mathrm{\ω}}_{j6}^{\text{'}}-{\mathrm{\ω}}_{j8}^{\text{'}}+{\mathrm{\ω}}_{j9}^{\text{'}}-{\mathrm{\ω}}_{j11}^{\text{'}}+{\mathrm{\ω}}_{j12}^{\text{'}}-{\mathrm{\ω}}_{j17}^{\text{'}}+{\mathrm{\ω}}_{j18}^{\text{'}})]$

The Monomial coefficient D of Y-axis to j axle _2jcomputing formula be:

$D_{2j}=\frac{1}{12}[2({\mathrm{\ω}}_{j1}^{\text{'}}-{\mathrm{\ω}}_{j10}^{\text{'}})+\sqrt{2}({\mathrm{\ω}}_{j2}^{\text{'}}-{\mathrm{\ω}}_{j3}^{\text{'}}-{\mathrm{\ω}}_{j5}^{\text{'}}+{\mathrm{\ω}}_{j6}^{\text{'}}-{\mathrm{\ω}}_{j11}^{\text{'}}+{\mathrm{\ω}}_{j12}^{\text{'}}-{\mathrm{\ω}}_{j14}^{\text{'}}+{\mathrm{\ω}}_{j15}^{\text{'}})]$

The Monomial coefficient D of Z axis to j axle _3jcomputing formula be:

$D_{3j}=\frac{1}{12}[2({\mathrm{\ω}}_{j7}^{\text{'}}-{\mathrm{\ω}}_{j13}^{\text{'}})+\sqrt{2}({-\mathrm{\ω}}_{j2}^{\text{'}}+{\mathrm{\ω}}_{j3}^{\text{'}}-{\mathrm{\ω}}_{j8}^{\text{'}}-{\mathrm{\ω}}_{j9}^{\text{'}}-{\mathrm{\ω}}_{j14}^{\text{'}}+{\mathrm{\ω}}_{j15}^{\text{'}}-{\mathrm{\ω}}_{j17}^{\text{'}}+{\mathrm{\ω}}_{j18}^{\text{'}})]$

The quadratic term coefficient D of X-axis to j axle _4jcomputing formula be:

$\begin{array}{c}{D}_{4j}=\frac{1}{18}[5({\mathrm{\ω}}_{j4}^{\text{'}}+{\mathrm{\ω}}_{j16}^{\text{'}})+2({\mathrm{\ω}}_{j5}^{\text{'}}+{\mathrm{\ω}}_{j6}^{\text{'}}+{\mathrm{\ω}}_{j8}^{\text{'}}+{\mathrm{\ω}}_{j9}^{\text{'}}+{\mathrm{\ω}}_{j11}^{\text{'}}+{\mathrm{\ω}}_{j12}^{\text{'}}+{\mathrm{\ω}}_{j17}^{\text{'}}+{\mathrm{\ω}}_{j18}^{\text{'}})\\ -{\mathrm{\ω}}_{j1}^{\text{'}}-{\mathrm{\ω}}_{j2}^{\text{'}}-{\mathrm{\ω}}_{j3}^{\text{'}}-{\mathrm{\ω}}_{j7}^{\text{'}}-{\mathrm{\ω}}_{j10}^{\text{'}}-{\mathrm{\ω}}_{j13}^{\text{'}}-{\mathrm{\ω}}_{j14}^{\text{'}}-{\mathrm{\ω}}_{j15}^{\text{'}}]\end{array}$

The quadratic term coefficient D of Y-axis to j axle _5jcomputing formula be:

$\begin{array}{c}{D}_{5j}=\frac{1}{18}[5({\mathrm{\ω}}_{j1}^{\text{'}}+{\mathrm{\ω}}_{j10}^{\text{'}})+2({\mathrm{\ω}}_{j2}^{\text{'}}+{\mathrm{\ω}}_{j3}^{\text{'}}+{\mathrm{\ω}}_{j5}^{\text{'}}+{\mathrm{\ω}}_{j6}^{\text{'}}+{\mathrm{\ω}}_{j11}^{\text{'}}+{\mathrm{\ω}}_{j12}^{\text{'}}+{\mathrm{\ω}}_{j14}^{\text{'}}+{\mathrm{\ω}}_{j15}^{\text{'}})\\ -{\mathrm{\ω}}_{j4}^{\text{'}}-{\mathrm{\ω}}_{j7}^{\text{'}}-{\mathrm{\ω}}_{j8}^{\text{'}}-{\mathrm{\ω}}_{j9}^{\text{'}}-{\mathrm{\ω}}_{j13}^{\text{'}}-{\mathrm{\ω}}_{j16}^{\text{'}}-{\mathrm{\ω}}_{j17}^{\text{'}}-{\mathrm{\ω}}_{j18}^{\text{'}}]\end{array}$

The quadratic term coefficient D of Z axis to j axle _6jcomputing formula be:

$\begin{array}{c}{D}_{6j}=\frac{1}{18}[5({\mathrm{\ω}}_{j7}^{\text{'}}+{\mathrm{\ω}}_{j13}^{\text{'}})+2({\mathrm{\ω}}_{j2}^{\text{'}}+{\mathrm{\ω}}_{j3}^{\text{'}}+{\mathrm{\ω}}_{j8}^{\text{'}}+{\mathrm{\ω}}_{j9}^{\text{'}}+{\mathrm{\ω}}_{j14}^{\text{'}}+{\mathrm{\ω}}_{j15}^{\text{'}}+{\mathrm{\ω}}_{j17}^{\text{'}}+{\mathrm{\ω}}_{j18}^{\text{'}})\\ -{\mathrm{\ω}}_{j1}^{\text{'}}-{\mathrm{\ω}}_{j4}^{\text{'}}-{\mathrm{\ω}}_{j5}^{\text{'}}-{\mathrm{\ω}}_{j6}^{\text{'}}-{\mathrm{\ω}}_{j10}^{\text{'}}-{\mathrm{\ω}}_{j11}^{\text{'}}-{\mathrm{\ω}}_{j12}^{\text{'}}-{\mathrm{\ω}}_{j16}^{\text{'}}]\end{array}$

X, the cross-couplings item coefficient D of Y-axis product to j axle _7jcomputing formula be:

$D_{7j}=\frac{1}{2}({-\mathrm{\ω}}_{j5}^{\text{'}}-{\mathrm{\ω}}_{j6}^{\text{'}}+{\mathrm{\ω}}_{j11}^{\text{'}}+{\mathrm{\ω}}_{j12}^{\text{'}})$

Y, the cross-couplings item coefficient D of Z-axis direction product to j axle _8jcomputing formula be:

$D_{8j}=\frac{1}{2}({-\mathrm{\ω}}_{j2}^{\text{'}}-{\mathrm{\ω}}_{j3}^{\text{'}}+{\mathrm{\ω}}_{j14}^{\text{'}}+{\mathrm{\ω}}_{j15}^{\text{'}})$

X, the cross-couplings item coefficient D of Z-axis direction product to j axle _9jcomputing formula be:

$D_{9j}=\frac{1}{2}({-\mathrm{\ω}}_{j8}^{\text{'}}-{\mathrm{\ω}}_{j9}^{\text{'}}+{\mathrm{\ω}}_{j17}^{\text{'}}+{\mathrm{\ω}}_{j18}^{\text{'}}).$

The implementation method of described step (5) is:

For on j direction of principal axis not containing k error coefficient D in the error model of zero degree item _kj, wherein k=4,5,6, its conspicuousness numerical value F _0-kfor:

$F_{0-k}=\frac{{D_{\mathrm{kj}}}^2}{l^{k,k}M/(18-9-1)}$

Wherein, l ^k,kfor Φ ^-1the value of the capable k of k row, Φ=A ^ta,

$A=\left[\begin{array}{ccccccccc}{a}_{x1}& a_{y1}& a_{z1}& {a_{x1}}^2& {a_{y1}}^2& {a_{z1}}^2& a_{x1}{a}_{y1}& a_{y1}{a}_{z1}& a_{x1}{a}_{z1}\\ a_{x2}& a_{y2}& a_{z2}& {a_{x2}}^2& {a_{y2}}^2& {a_{z2}}^2& a_{x2}{a}_{y2}& a_{y2}{a}_{z2}& a_{x2}{a}_{z2}\\ .& .& .& .& .& .& .& .& .\\ .& .& .& .& .& .& .& .& .\\ .& .& .& .& .& .& .& .& .\\ a_{x18}& a_{y18}& a_{z18}& {a_{x18}}^2& {a_{y18}}^2& {a_{z18}}^2& a_{x18}{a}_{y18}& a_{y18}{a}_{z18}& a_{x18}{a}_{z18}\end{array}\right];$

M=Y ^ty-Y ^ta Φ ^-1a ^ty, and Y=[ω ' _j1ω ' _j2ω ' _j18] ^t, the output valve ω ' that does not contain the error model of zero degree item on j direction of principal axis when i the position _ji=ω _b-ji-D _0j-O, a _xi, a _yi, a _zithe apparent acceleration component in X, Y, Z axis direction respectively while being i position is given value;

By F _0-kwith numerical value F _0.99(1,9)=10.6 compare, and work as F _0-k>=F _0.99when (1,9), this term system digital display work; Work as F _0-k<F _0.99when (1,9), this coefficient is not remarkable.

The implementation method of described step (6) is as follows:

The error model that does not comprise zero degree item on j direction of principal axis is:

ω′ _j=D _1ja _x+D _2ja _y+D _3ja _z+D _4ja _x ²+D _5ja _y ²+D _6ja _z ²+D _7ja _xa _y+D _8ja _ya _z+D _9ja _xa _z

Wherein, ω ' _jfor the output valve of this error model,, its output valve is ω ' when i the position _ji=ω _b-ji-D _0j-O;

Its error model conspicuousness numerical value F ₀for:

$F_0=\frac{U_0/9}{P_0/(18-9-1)}$

Wherein, U ₀=Y ^ta Φ ₀ ^-1a ^ty, and, Y=[ω ' _j1ω ' _j2ω ' _j18] ^t, Φ ₀=A ^ta, $A=\left[\begin{array}{ccccccccc}{a}_{x1}& a_{y1}& a_{z1}& {a_{x1}}^2& {a_{y1}}^2& {a_{z1}}^2& a_{x1}{a}_{y1}& a_{y1}{a}_{z1}& a_{x1}{a}_{z1}\\ a_{x2}& a_{y2}& a_{z2}& {a_{x2}}^2& {a_{y2}}^2& {a_{z2}}^2& a_{x2}{a}_{y2}& a_{y2}{a}_{z2}& a_{x2}{a}_{z2}\\ .& .& .& .& .& .& .& .& .\\ .& .& .& .& .& .& .& .& .\\ .& .& .& .& .& .& .& .& .\\ a_{x18}& a_{y18}& a_{z18}& {a_{x18}}^2& {a_{y18}}^2& {a_{z18}}^2& a_{x18}{a}_{y18}& a_{y18}{a}_{z18}& a_{x18}{a}_{z18}\end{array}\right],P_0=Y^{T}Y-U_0,$ A _xi, a _yi, a _zithe apparent acceleration component in X, Y, Z axis direction respectively while being i position is given value;

On j direction of principal axis, not comprising X-axis to the error model of j axle quadratic term coefficient is:

ω′ _j=D _0j+D _1ja _x+D _2ja _y+D _3ja _z+D _5ja _y ²+D _6ja _z ²+D _7ja _xa _y+D _8ja _ya _z+D _9ja _xa _z

Wherein, ω ' _jfor the output valve of this error model,, its output valve is ω ' when i the position _ji=ω _b-ji;

Its error model conspicuousness numerical value F _xfor:

$F_x=\frac{U_x/9}{P_x/(18-9-1)}$

Wherein, U _x=Y ^tb _xΦ _x ^-1b _x ^ty, Y=[ω ' _j1ω ' _j2ω ' _j18] ^t, Φ _x=B _x ^tb _x, $B_x=\left[\begin{array}{ccccccccc}1& a_{x1}& a_{y1}& a_{z1}& {a_{y1}}^2& {a_{z1}}^2& a_{x1}{a}_{y1}& a_{y1}{a}_{z1}& a_{x1}{a}_{z1}\\ 1& a_{x2}& a_{y2}& a_{z2}& {a_{y2}}^2& {a_{z2}}^2& a_{x2}{a}_{y2}& a_{y2}{a}_{z2}& a_{x2}{a}_{z2}\\ .& .& .& .& .& .& .& .& .\\ .& .& .& .& .& .& .& .& .\\ .& .& .& .& .& .& .& .& .\\ 1& a_{x18}& a_{y18}& a_{z18}& {a_{y18}}^2& {a_{z18}}^2& a_{x18}{a}_{y18}& a_{y18}{a}_{z18}& a_{x18}{a}_{z18}\end{array}\right],P_x=Y^{T}Y-U_x,$ A _xi, a _yi, a _zithe apparent acceleration component in X, Y, Z axis direction respectively while being i position is given value;

On j direction of principal axis, not comprising Y-axis to the error model of j axle quadratic term coefficient is:

ω′ _j=D _0j+D _1ja _x+D _2ja _y+D _3ja _z+D _4ja _x ²+D _6ja _z ²+D _7ja _xa _y+D _8ja _ya _z+D _9ja _xa _z

Wherein, ω ' _jfor the output valve of this error model,, its output valve is ω ' when i the position _ji=ω _b-ji;

Its error model conspicuousness numerical value F _yfor:

$F_y=\frac{U_y/9}{P_y/(18-9-1)}$

Wherein, U _y=Y ^tb _yΦ _y ^-1b _y ^ty, and, Y=[ω ' _j1ω ' _j2ω ' _j18] ^t, Φ _y=B _y ^tb _y, $B_y=\left[\begin{array}{ccccccccc}1& a_{x1}& a_{y1}& a_{z1}& {a_{x1}}^2& {a_{z1}}^2& a_{x1}{a}_{y1}& a_{y1}{a}_{z1}& a_{x1}{a}_{z1}\\ 1& a_{x2}& a_{y2}& a_{z2}& {a_{x2}}^2& {a_{z2}}^2& a_{x2}{a}_{y2}& a_{y2}{a}_{z2}& a_{x2}{a}_{z2}\\ .& .& .& .& .& .& .& .& .\\ .& .& .& .& .& .& .& .& .\\ .& .& .& .& .& .& .& .& .\\ 1& a_{x18}& a_{y18}& a_{z18}& {a_{x18}}^2& {a_{z18}}^2& a_{x18}{a}_{y18}& a_{y18}{a}_{z18}& a_{x18}{a}_{z18}\end{array}\right],P_y=Y^{T}Y-U_y,$ A _xi, a _yi, a _zithe apparent acceleration component in X, Y, Z axis direction respectively while being i position is given value;

On j direction of principal axis, not comprising Z axis to the error model of j axle quadratic term coefficient is:

ω′ _j=D _0j+D _1ja _x+D _2ja _y+D _3ja _z+D _4ja _x ²+D _5ja _y ²+D _7ja _xa _y+D _8ja _ya _z+D _9ja _xa _z

Wherein, ω ' _jfor the output valve of this error model,, its output valve is ω ' when i the position _ji=ω _b-ji;

Its error model conspicuousness numerical value F _zfor:

$F_z=\frac{U_z/9}{P_z/(18-9-1)}$

Wherein, U _z=Y ^tb _zΦ _z ^-1b _z ^ty, and, Y=[ω ' _j1ω ' _j2ω ' _j18] ^t, Φ _z=B _z ^tb _z $B_z=\left[\begin{array}{ccccccccc}1& a_{x1}& a_{y1}& a_{z1}& {a_{x1}}^2& {a_{y1}}^2& a_{x1}{a}_{y1}& a_{y1}{a}_{z1}& a_{x1}{a}_{z1}\\ 1& a_{x2}& a_{y2}& a_{z2}& {a_{x2}}^2& {a_{y2}}^2& a_{x2}{a}_{y2}& a_{y2}{a}_{z2}& a_{x2}{a}_{z2}\\ .& .& .& .& .& .& .& .& .\\ .& .& .& .& .& .& .& .& .\\ .& .& .& .& .& .& .& .& .\\ 1& a_{x18}& a_{y18}& a_{z18}& {a_{x18}}^2& {a_{y18}}^2& a_{x18}{a}_{y18}& a_{y18}{a}_{z18}& a_{x18}{a}_{z18}\end{array}\right],P_z=Y^{T}Y-U_z,$ A _xi, a _yi, a _zithe apparent acceleration component in X, Y, Z axis direction respectively while being i position is given value.

The actual error model of working as on j direction of principal axis in described step (7) and (8) is not comprise the error model ω ' of X-axis to j axle quadratic term coefficient _j=D _0j+ D _1ja _x+ D _2ja _y+ D _3ja _z+ D _5ja _y ²+ D _6ja _z ²+ D _7ja _xa _y+ D _8ja _ya _z+ D _9ja _xa _ztime, wherein ω ' _jfor the output valve of this error model,, its output valve is ω ' when i the position _ji=ω _b-ji;

Its zero degree item coefficient D _0jcomputing formula be:

$\begin{array}{c}{D}_{0j}=\frac{1}{18}[5({\mathrm{\&omega;}}_{j4}^{\text{'}}+{\mathrm{\&omega;}}_{j16}^{\text{'}})+2({\mathrm{\&omega;}}_{j5}^{\text{'}}+{\mathrm{\&omega;}}_{j6}^{\text{'}}+{\mathrm{\&omega;}}_{j8}^{\text{'}}+{\mathrm{\&omega;}}_{j9}^{\text{'}}+{\mathrm{\&omega;}}_{j11}^{\text{'}}+{\mathrm{\&omega;}}_{j12}^{\text{'}}+{\mathrm{\&omega;}}_{j17}^{\text{'}}+{\mathrm{\&omega;}}_{j18}^{\text{'}})\\ -{\mathrm{\&omega;}}_{j1}^{\text{'}}-{\mathrm{\&omega;}}_{j2}^{\text{'}}-{\mathrm{\&omega;}}_{j3}^{\text{'}}-{\mathrm{\&omega;}}_{j7}^{\text{'}}-{\mathrm{\&omega;}}_{j10}^{\text{'}}-{\mathrm{\&omega;}}_{j13}^{\text{'}}-{\mathrm{\&omega;}}_{j14}^{\text{'}}-{\mathrm{\&omega;}}_{j15}^{\text{'}}]\end{array}$

The Monomial coefficient D of X-axis to j axle _1jcomputing formula be:

$D_{1j}=\frac{1}{12}[2({\mathrm{\&omega;}}_{j4}^{\text{'}}-{\mathrm{\&omega;}}_{j16}^{\text{'}})+\sqrt{2}({\mathrm{\&omega;}}_{j5}^{\text{'}}-{\mathrm{\&omega;}}_{j6}^{\text{'}}-{\mathrm{\&omega;}}_{j8}^{\text{'}}+{\mathrm{\&omega;}}_{j9}^{\text{'}}-{\mathrm{\&omega;}}_{j11}^{\text{'}}+{\mathrm{\&omega;}}_{j12}^{\text{'}}-{\mathrm{\&omega;}}_{j17}^{\text{'}}+{\mathrm{\&omega;}}_{j18}^{\text{'}})]$

The Monomial coefficient D of Y-axis to j axle _2jcomputing formula be:

$D_{2j}=\frac{1}{12}[2({\mathrm{\&omega;}}_{j1}^{\text{'}}-{\mathrm{\&omega;}}_{j10}^{\text{'}})+\sqrt{2}({\mathrm{\&omega;}}_{j2}^{\text{'}}-{\mathrm{\&omega;}}_{j3}^{\text{'}}-{\mathrm{\&omega;}}_{j5}^{\text{'}}+{\mathrm{\&omega;}}_{j6}^{\text{'}}-{\mathrm{\&omega;}}_{j11}^{\text{'}}+{\mathrm{\&omega;}}_{j12}^{\text{'}}-{\mathrm{\&omega;}}_{j14}^{\text{'}}+{\mathrm{\&omega;}}_{j15}^{\text{'}})]$

The Monomial coefficient D of Z axis to j axle _3jcomputing formula be:

$D_{3j}=\frac{1}{12}[2({\mathrm{\&omega;}}_{j7}^{\text{'}}-{\mathrm{\&omega;}}_{j13}^{\text{'}})+\sqrt{2}({-\mathrm{\&omega;}}_{j2}^{\text{'}}+{\mathrm{\&omega;}}_{j3}^{\text{'}}+{\mathrm{\&omega;}}_{j8}^{\text{'}}-{\mathrm{\&omega;}}_{j9}^{\text{'}}-{\mathrm{\&omega;}}_{j14}^{\text{'}}+{\mathrm{\&omega;}}_{j15}^{\text{'}}-{\mathrm{\&omega;}}_{j17}^{\text{'}}+{\mathrm{\&omega;}}_{j18}^{\text{'}})]$

The quadratic term coefficient D of Y-axis to j axle _5jcomputing formula be:

$D_{5j}=\frac{1}{6}\left[2({\mathrm{\&omega;}}_{j1}^{\text{'}}-{\mathrm{\&omega;}}_{j14}^{\text{'}}+{\mathrm{\&omega;}}_{j10}^{\text{'}}-{\mathrm{\&omega;}}_{j16}^{\text{'}}){+\mathrm{\&omega;}}_{j2}^{\text{'}}+{\mathrm{\&omega;}}_{j3}^{\text{'}}-{\mathrm{\&omega;}}_{j8}^{\text{'}}-{\mathrm{\&omega;}}_{j9}^{\text{'}}-{\mathrm{\&omega;}}_{j14}^{\text{'}}+{\mathrm{\&omega;}}_{j15}^{\text{'}}-{\mathrm{\&omega;}}_{j17}^{\text{'}}+{\mathrm{\&omega;}}_{j18}^{\text{'}}\right]$

The quadratic term coefficient D of Z axis to j axle _6jcomputing formula be:

$D_{6j}=\frac{1}{6}\left[2({-\mathrm{\&omega;}}_{j4}^{\text{'}}+{\mathrm{\&omega;}}_{j7}^{\text{'}}+{\mathrm{\&omega;}}_{j13}^{\text{'}}-{\mathrm{\&omega;}}_{j16}^{\text{'}}){+\mathrm{\&omega;}}_{j2}^{\text{'}}+{\mathrm{\&omega;}}_{j3}^{\text{'}}-{\mathrm{\&omega;}}_{j5}^{\text{'}}-{\mathrm{\&omega;}}_{j6}^{\text{'}}-{\mathrm{\&omega;}}_{j11}^{\text{'}}-{\mathrm{\&omega;}}_{j12}^{\text{'}}+{\mathrm{\&omega;}}_{j14}^{\text{'}}+{\mathrm{\&omega;}}_{j15}^{\text{'}}\right]$

X, the cross-couplings item coefficient D of Y-axis product to j axle _7jcomputing formula be:

$D_{7j}=\frac{1}{2}({-\mathrm{\&omega;}}_{j5}^{\text{'}}-{\mathrm{\&omega;}}_{j6}^{\text{'}}+{\mathrm{\&omega;}}_{j11}^{\text{'}}+{\mathrm{\&omega;}}_{j12}^{\text{'}})$

Y, the cross-couplings item coefficient D of Z-axis direction product to j axle _8jcomputing formula be:

$D_{8j}=\frac{1}{2}({-\mathrm{\&omega;}}_{j2}^{\text{'}}-{\mathrm{\&omega;}}_{j3}^{\text{'}}+{\mathrm{\&omega;}}_{j14}^{\text{'}}+{\mathrm{\&omega;}}_{j15}^{\text{'}})$

X, the cross-couplings item coefficient D of Z-axis direction product to j axle _9jcomputing formula be:

$D_{9j}=\frac{1}{2}({-\mathrm{\&omega;}}_{j8}^{\text{'}}-{\mathrm{\&omega;}}_{j9}^{\text{'}}+{\mathrm{\&omega;}}_{j17}^{\text{'}}+{\mathrm{\&omega;}}_{j18}^{\text{'}}).$

The actual error model of working as on j direction of principal axis in described step (7) and (8) is not comprise the error model ω ' of Y-axis to j axle quadratic term coefficient _j=D _0j+ D _1ja _x+ D _2ja _y+ D _3ja _z+ D _4ja _x ²+ D _6ja _z ²+ D _7ja _xa _y+ D _8ja _ya _z+ D _9ja _xa _ztime, wherein ω ' _jfor the output valve of this error model,, its output valve is ω ' when i the position _ji=ω _b-ji;

Zero degree item coefficient D _0jcomputing formula be:

$\begin{array}{c}{D}_{0j}=\frac{1}{18}[5({\mathrm{\&omega;}}_{j1}^{\text{'}}+{\mathrm{\&omega;}}_{j10}^{\text{'}})+2({\mathrm{\&omega;}}_{j2}^{\text{'}}+{\mathrm{\&omega;}}_{j3}^{\text{'}}+{\mathrm{\&omega;}}_{j5}^{\text{'}}+{\mathrm{\&omega;}}_{j6}^{\text{'}}+{\mathrm{\&omega;}}_{j11}^{\text{'}}+{\mathrm{\&omega;}}_{j12}^{\text{'}}+{\mathrm{\&omega;}}_{j14}^{\text{'}}+{\mathrm{\&omega;}}_{j15}^{\text{'}})\\ -{\mathrm{\&omega;}}_{j4}^{\text{'}}-{\mathrm{\&omega;}}_{j7}^{\text{'}}-{\mathrm{\&omega;}}_{j8}^{\text{'}}-{\mathrm{\&omega;}}_{j9}^{\text{'}}-{\mathrm{\&omega;}}_{j13}^{\text{'}}-{\mathrm{\&omega;}}_{j16}^{\text{'}}-{\mathrm{\&omega;}}_{j17}^{\text{'}}-{\mathrm{\&omega;}}_{j18}^{\text{'}}]\end{array}$

The Monomial coefficient D of X-axis to j axle _1jcomputing formula be:

$D_{1j}=\frac{1}{12}[2({\mathrm{\&omega;}}_{j4}^{\text{'}}-{\mathrm{\&omega;}}_{j16}^{\text{'}})+\sqrt{2}({\mathrm{\&omega;}}_{j5}^{\text{'}}-{\mathrm{\&omega;}}_{j6}^{\text{'}}-{\mathrm{\&omega;}}_{j8}^{\text{'}}+{\mathrm{\&omega;}}_{j9}^{\text{'}}-{\mathrm{\&omega;}}_{j11}^{\text{'}}+{\mathrm{\&omega;}}_{j12}^{\text{'}}-{\mathrm{\&omega;}}_{j17}^{\text{'}}+{\mathrm{\&omega;}}_{j18}^{\text{'}})]$

The Monomial coefficient D of Y-axis to j axle _2jcomputing formula be:

$D_{2j}=\frac{1}{12}[2({\mathrm{\&omega;}}_{j1}^{\text{'}}-{\mathrm{\&omega;}}_{j10}^{\text{'}})+\sqrt{2}({\mathrm{\&omega;}}_{j2}^{\text{'}}-{\mathrm{\&omega;}}_{j3}^{\text{'}}-{\mathrm{\&omega;}}_{j5}^{\text{'}}+{\mathrm{\&omega;}}_{j6}^{\text{'}}-{\mathrm{\&omega;}}_{j11}^{\text{'}}+{\mathrm{\&omega;}}_{j12}^{\text{'}}-{\mathrm{\&omega;}}_{j14}^{\text{'}}+{\mathrm{\&omega;}}_{j15}^{\text{'}})]$

The Monomial coefficient D of Z axis to j axle _3jcomputing formula be:

$D_{3j}=\frac{1}{12}[2({\mathrm{\&omega;}}_{j7}^{\text{'}}-{\mathrm{\&omega;}}_{j13}^{\text{'}})+\sqrt{2}({-\mathrm{\&omega;}}_{j2}^{\text{'}}+{\mathrm{\&omega;}}_{j3}^{\text{'}}-{\mathrm{\&omega;}}_{j8}^{\text{'}}-{\mathrm{\&omega;}}_{j9}^{\text{'}}-{\mathrm{\&omega;}}_{j14}^{\text{'}}+{\mathrm{\&omega;}}_{j15}^{\text{'}}-{\mathrm{\&omega;}}_{j17}^{\text{'}}+{\mathrm{\&omega;}}_{j18}^{\text{'}})]$

The quadratic term coefficient D of X-axis to j axle _4jcomputing formula be:

$\begin{array}{c}{D}_{4j}=\frac{1}{6}[2({-\mathrm{\&omega;}}_{j1}^{\text{'}}+{\mathrm{\&omega;}}_{j4}^{\text{'}}{-\mathrm{\&omega;}}_{j10}^{\text{'}}+{\mathrm{\&omega;}}_{j16}^{\text{'}})-{\mathrm{\&omega;}}_{j2}^{\text{'}}-{\mathrm{\&omega;}}_{j3}^{\text{'}}+{\mathrm{\&omega;}}_{j8}^{\text{'}}+{\mathrm{\&omega;}}_{j9}^{\text{'}}-{\mathrm{\&omega;}}_{j14}^{\text{'}}-{\mathrm{\&omega;}}_{j15}^{\text{'}}+{\mathrm{\&omega;}}_{j17}^{\text{'}}+{\mathrm{\&omega;}}_{j18}^{\text{'}}]\end{array}$

The quadratic term coefficient D of Z axis to j axle _6jcomputing formula be:

$\begin{array}{c}{D}_{6j}=\frac{1}{6}[2({-\mathrm{\&omega;}}_{j1}^{\text{'}}+{\mathrm{\&omega;}}_{j7}^{\text{'}}{-\mathrm{\&omega;}}_{j10}^{\text{'}}+{\mathrm{\&omega;}}_{j13}^{\text{'}})-{\mathrm{\&omega;}}_{j5}^{\text{'}}-{\mathrm{\&omega;}}_{j6}^{\text{'}}+{\mathrm{\&omega;}}_{j8}^{\text{'}}+{\mathrm{\&omega;}}_{j9}^{\text{'}}-{\mathrm{\&omega;}}_{j11}^{\text{'}}-{\mathrm{\&omega;}}_{j12}^{\text{'}}+{\mathrm{\&omega;}}_{j17}^{\text{'}}+{\mathrm{\&omega;}}_{j18}^{\text{'}}]\end{array}$

X, the cross-couplings item coefficient D of Y-axis product to j axle _7jcomputing formula be:

$D_{7j}=\frac{1}{2}({-\mathrm{\&omega;}}_{j5}^{\text{'}}-{\mathrm{\&omega;}}_{j6}^{\text{'}}+{\mathrm{\&omega;}}_{j11}^{\text{'}}+{\mathrm{\&omega;}}_{j12}^{\text{'}})$

Y, the cross-couplings item coefficient D of Z-axis direction product to j axle _8jcomputing formula be:

$D_{8j}=\frac{1}{2}({-\mathrm{\&omega;}}_{j2}^{\text{'}}-{\mathrm{\&omega;}}_{j3}^{\text{'}}+{\mathrm{\&omega;}}_{j14}^{\text{'}}+{\mathrm{\&omega;}}_{j15}^{\text{'}})$

X, the cross-couplings item coefficient D of Z-axis direction product to j axle _9jcomputing formula be:

$D_{9j}=\frac{1}{2}({-\mathrm{\&omega;}}_{j8}^{\text{'}}-{\mathrm{\&omega;}}_{j9}^{\text{'}}+{\mathrm{\&omega;}}_{j17}^{\text{'}}+{\mathrm{\&omega;}}_{j18}^{\text{'}}).$

The actual error model of working as on j direction of principal axis in described step (7) and (8) is not comprise the error model ω ' of Z axis to j axle quadratic term coefficient _j=D _0j+ D _1ja _x+ D _2ja _y+ D _3ja _z+ D _4ja _x ²+ D _5ja _y ²+ D _7ja _xa _y+ D _8ja _ya _z+ D _9ja _xa _ztime, wherein ω ' _jfor the output valve of this error model,, its output valve is ω ' when i the position _ji=ω _b-ji;

Zero degree item coefficient D _0jcomputing formula be:

$\begin{array}{c}{D}_{0j}=\frac{1}{18}[5({\mathrm{\&omega;}}_{j7}^{\text{'}}+{\mathrm{\&omega;}}_{j13}^{\text{'}})+2({\mathrm{\&omega;}}_{j2}^{\text{'}}+{\mathrm{\&omega;}}_{j3}^{\text{'}}+{\mathrm{\&omega;}}_{j8}^{\text{'}}+{\mathrm{\&omega;}}_{j9}^{\text{'}}+{\mathrm{\&omega;}}_{j14}^{\text{'}}+{\mathrm{\&omega;}}_{j15}^{\text{'}}+{\mathrm{\&omega;}}_{j17}^{\text{'}}+{\mathrm{\&omega;}}_{j18}^{\text{'}})\\ -{\mathrm{\&omega;}}_{j1}^{\text{'}}-{\mathrm{\&omega;}}_{j4}^{\text{'}}-{\mathrm{\&omega;}}_{j5}^{\text{'}}-{\mathrm{\&omega;}}_{j6}^{\text{'}}-{\mathrm{\&omega;}}_{j10}^{\text{'}}-{\mathrm{\&omega;}}_{j11}^{\text{'}}-{\mathrm{\&omega;}}_{j12}^{\text{'}}-{\mathrm{\&omega;}}_{j16}^{\text{'}}]\end{array}$

The Monomial coefficient D of X-axis to j axle _1jcomputing formula be:

$D_{1j}=\frac{1}{12}[2({\mathrm{\&omega;}}_{j4}^{\text{'}}-{\mathrm{\&omega;}}_{j16}^{\text{'}})+\sqrt{2}({\mathrm{\&omega;}}_{j5}^{\text{'}}-{\mathrm{\&omega;}}_{j6}^{\text{'}}-{\mathrm{\&omega;}}_{j8}^{\text{'}}+{\mathrm{\&omega;}}_{j9}^{\text{'}}-{\mathrm{\&omega;}}_{j11}^{\text{'}}+{\mathrm{\&omega;}}_{j12}^{\text{'}}-{\mathrm{\&omega;}}_{j17}^{\text{'}}+{\mathrm{\&omega;}}_{j18}^{\text{'}})]$

The Monomial coefficient D of Y-axis to j axle _2jcomputing formula be:

$D_{2j}=\frac{1}{12}[2({\mathrm{\&omega;}}_{j1}^{\text{'}}-{\mathrm{\&omega;}}_{j10}^{\text{'}})+\sqrt{2}({\mathrm{\&omega;}}_{j2}^{\text{'}}-{\mathrm{\&omega;}}_{j3}^{\text{'}}-{\mathrm{\&omega;}}_{j5}^{\text{'}}+{\mathrm{\&omega;}}_{j6}^{\text{'}}-{\mathrm{\&omega;}}_{j11}^{\text{'}}+{\mathrm{\&omega;}}_{j12}^{\text{'}}-{\mathrm{\&omega;}}_{j14}^{\text{'}}+{\mathrm{\&omega;}}_{j15}^{\text{'}})]$

The Monomial coefficient D of Z axis to j axle _3jcomputing formula be:

$D_{3j}=\frac{1}{12}[2({\mathrm{\&omega;}}_{j7}^{\text{'}}-{\mathrm{\&omega;}}_{j13}^{\text{'}})+\sqrt{2}({-\mathrm{\&omega;}}_{j2}^{\text{'}}+{\mathrm{\&omega;}}_{j3}^{\text{'}}+{\mathrm{\&omega;}}_{j8}^{\text{'}}-{\mathrm{\&omega;}}_{j9}^{\text{'}}-{\mathrm{\&omega;}}_{j14}^{\text{'}}+{\mathrm{\&omega;}}_{j15}^{\text{'}}-{\mathrm{\&omega;}}_{j17}^{\text{'}}+{\mathrm{\&omega;}}_{j18}^{\text{'}})]$

The quadratic term coefficient D of X-axis to j axle _4jcomputing formula be:

$\begin{array}{c}{D}_{4j}=\frac{1}{6}[2({\mathrm{\&omega;}}_{j4}^{\text{'}}-{\mathrm{\&omega;}}_{j7}^{\text{'}}{-\mathrm{\&omega;}}_{j13}^{\text{'}}+{\mathrm{\&omega;}}_{j16}^{\text{'}})-{\mathrm{\&omega;}}_{j2}^{\text{'}}-{\mathrm{\&omega;}}_{j3}^{\text{'}}+{\mathrm{\&omega;}}_{j5}^{\text{'}}+{\mathrm{\&omega;}}_{j6}^{\text{'}}+{\mathrm{\&omega;}}_{j11}^{\text{'}}+{\mathrm{\&omega;}}_{j12}^{\text{'}}-{\mathrm{\&omega;}}_{j17}^{\text{'}}-{\mathrm{\&omega;}}_{j18}^{\text{'}}]\end{array}$

The quadratic term coefficient D of Y-axis to j axle _5jcomputing formula be:

$\begin{array}{c}{D}_{5j}=\frac{1}{6}[2({\mathrm{\&omega;}}_{j1}^{\text{'}}-{\mathrm{\&omega;}}_{j7}^{\text{'}}{+\mathrm{\&omega;}}_{j10}^{\text{'}}-{\mathrm{\&omega;}}_{j13}^{\text{'}})+{\mathrm{\&omega;}}_{j5}^{\text{'}}+{\mathrm{\&omega;}}_{j6}^{\text{'}}-{\mathrm{\&omega;}}_{j8}^{\text{'}}-{\mathrm{\&omega;}}_{j9}^{\text{'}}+{\mathrm{\&omega;}}_{j11}^{\text{'}}+{\mathrm{\&omega;}}_{j12}^{\text{'}}-{\mathrm{\&omega;}}_{j17}^{\text{'}}-{\mathrm{\&omega;}}_{j18}^{\text{'}}]\end{array}$

X, the cross-couplings item coefficient D of Y-axis product to j axle _7jcomputing formula be:

$D_{7j}=\frac{1}{2}({-\mathrm{\&omega;}}_{j5}^{\text{'}}-{\mathrm{\&omega;}}_{j6}^{\text{'}}+{\mathrm{\&omega;}}_{j11}^{\text{'}}+{\mathrm{\&omega;}}_{j12}^{\text{'}})$

Y, the cross-couplings item coefficient D of Z-axis direction product to j axle _8jcomputing formula be:

$D_{8j}=\frac{1}{2}({-\mathrm{\&omega;}}_{j2}^{\text{'}}-{\mathrm{\&omega;}}_{j3}^{\text{'}}+{\mathrm{\&omega;}}_{j14}^{\text{'}}+{\mathrm{\&omega;}}_{j15}^{\text{'}})$

X, the cross-couplings item coefficient D of Z-axis direction product to j axle _9jcomputing formula be:

$D_{9j}=\frac{1}{2}({-\mathrm{\&omega;}}_{j8}^{\text{'}}-{\mathrm{\&omega;}}_{j9}^{\text{'}}+{\mathrm{\&omega;}}_{j17}^{\text{'}}+{\mathrm{\&omega;}}_{j18}^{\text{'}}).$

The present invention's advantage is compared with prior art as follows:

(1) existing strap down inertial navigation combination gyroscope combination calibration algorithm can only be demarcated zero degree item relevant to apparent acceleration in strap down inertial navigation combination gyro error model and item once, method of the present invention can complete the demarcation of all coefficients (comprising quadratic term and cross-couplings item coefficient) in error model, because consider that in error model, all coefficients are on the impact of exporting simultaneously, the error coefficient that uses this method to calculate has higher stated accuracy;

(2) because carrying out having carried out conspicuousness consideration when zero degree item and quadratic term are chosen, so the error model of selecting has the highest degree of conformity, the output error minimum that uses this group calibration result to calculate with actual output;

(3) existing scaling method test position is few, and the detecting information comprising is also less, and method test position of the present invention is many, comprises more information, and this can improve precision and the reliability of calibration result;

(4), compared with existing scaling method, method test of the present invention is consuming time less, calculating is simple, can complete fast the demarcation of inertia combination gyroscope combination.

Brief description of the drawings

Fig. 1 is the calibration process process flow diagram of the inventive method;

Fig. 2 is the calibration position layout figure of the inventive method.

Embodiment

Calibrating after the constant multiplier and alignment error angle of gyroscope combination, also needing to calibrate the error term coefficient relevant to apparent acceleration and just can complete the compensation that gyroscope combination is exported, obtaining high-precision carrier angular velocity measurement value.

Traditional strap down inertial navigation combination gyroscope combination calibration algorithm can only calibrate zero degree item relevant to apparent acceleration in strap down inertial navigation combination gyroscope combination error model and item error coefficient once, cannot calibrate quadratic term, also can not demarcate cross-couplings item coefficient.In order to calibrate all error term coefficients relevant with apparent acceleration in strap down inertial navigation combination gyroscope combination error model, and improve the precision of calibration coefficient, the invention provides a kind of method of demarcating the combination of strap down inertial navigation combination gyroscope, for the computing gyroscope combination error coefficient relevant with apparent acceleration.Umber of pulse output frequency can be according to following formula and carrier apparent acceleration and angular velocity opening relationships, and this is strapdown and is used to organize gyro error model:

$\begin{array}{c}\left[\begin{array}{c}{G}_{\mathrm{xp}}\\ G_{\mathrm{yp}}\\ G_{\mathrm{zp}}\end{array}\right]=\left[\begin{array}{ccc}{K}_{\mathrm{gx}}& 0& 0\\ 0& K_{\mathrm{gy}}& 0\\ 0& 0& K_{\mathrm{gz}}\end{array}\right]\left\{\begin{array}{c}\left[\begin{array}{c}{D}_{0x}\\ D_{0y}\\ D_{0z}\end{array}\right]+\left[\begin{array}{ccc}{D}_{1x}& D_{2x}& D_{3x}\\ D_{1y}& D_{2y}& D_{3y}\\ D_{1z}& D_{2z}& D_{3z}\end{array}\right]\left[\begin{array}{c}{a}_x\\ a_y\\ a_z\end{array}\right]\left[\begin{array}{ccc}{D}_{4x}& D_{5x}& D_{6x}\\ D_{4y}& D_{5y}& D_{6y}\\ D_{4z}& D_{5z}& D_{6z}\end{array}\right]\left[\begin{array}{c}{a}_x^2\\ a_y^2\\ a_z^2\end{array}\right]\end{array}\right.\\ +\left[\begin{array}{ccc}{D}_{7x}& D_{8x}& D_{9x}\\ D_{7y}& D_{8y}& D_{9y}\\ D_{7z}& D_{8z}& D_{9z}\end{array}\right]\left[\begin{array}{c}{a}_x{a}_y\\ a_y{a}_z\\ a_x{a}_z\end{array}\right]+\left[\begin{array}{ccc}1& E_{\mathrm{YX}}& E_{\mathrm{ZX}}\\ E_{\mathrm{XY}}& 1& E_{\mathrm{ZY}}\\ E_{\mathrm{XZ}}& E_{\mathrm{YZ}}& 1\end{array}\right]\left.\begin{array}{c}\left[\begin{array}{c}{\mathrm{\&omega;}}_x\\ {\mathrm{\&omega;}}_y\\ {\mathrm{\&omega;}}_z\end{array}\right]\end{array}\right\}\end{array}$

In formula, G _xp, G _yp, G _zpbe respectively X, Y, Z axis gyroscope output pulse frequency (unit is Pulse/s); K _gx, K _gy, K _gzbe respectively constant multiplier (unit is Pulse/ rad); D _0x, D _0y, D _0zbe respectively zero degree item coefficient (unit for °/h); D _1x, D _1y, D _1z, D _2x, D _2y, D _2z, D _3x, D _3y, D _3zfor Monomial coefficient relevant to apparent acceleration, (unit is °/h/g ₀); D _4x, D _4y, D _4z, D _5x, D _5y, D _5z, D _6x, D _6y, D _6zfor quadratic term coefficient relevant to apparent acceleration, (unit is °/h/g ₀ ²); D _7x, D _7y, D _7z, D _8x, D _8y, D _8z, D _9x, D _9y, D _9zfor cross-couplings item coefficient relevant to apparent acceleration, (unit is °/h/g ₀ ²); a _x, a _y, a _zbeing respectively strapdown is used to organize X, Y, Z axis (unit is g to apparent acceleration component ₀); E _yX, E _zX, E _xY, E _zY, E _xZ, E _yZfor alignment error angle (unit is rad); ω _x, ω _y, ω _zbe respectively strapdown be used to organize X, Y, Z axis to angular velocity component (unit for °/h); g ₀for testing location terrestrial gravitation acceleration.

Can obtain the error model relevant with apparent acceleration on gyroscope combination j axle by above-mentioned error model is ω ' _j=D _0j+ D _1ja _x+ D _2ja _y+ D _3ja _z+ D _4ja _x ²+ D _5ja _y ²+ D _6ja _z ²+ D _7ja _xa _y+ D _8ja _ya _z+ D _9ja _xa _z, wherein, ω ' _jfor the output valve of this error model (unit is °/h), j is X, Y or Z.

As shown in Figure 1, step is as follows for step of the present invention:

(1) strap down inertial navigation combination is statically placed in to 18 positions, in the time of i position, gathers the combination of X, Y, Z axis gyroscope and pass through the pulse number G that Δ t exports second _x(i), G _yand G (i) _z(i), i ∈ [1,18] wherein;

Be implemented as follows:

Position 1: make east, sky, south that strap down inertial navigation combination X, Y, Z axis gyroscope points to respectively test point geographic coordinate system to, record X, Y, Z axis gyroscope and pass through the pulse number that Δ t exports second, be respectively G _x(1), G _yand G (1) _z(1);

Position 2: around 45 ° of X-axis forwards, now X-axis is pointed to east to the strap down inertial navigation block position in position 1, days 45 ° partially of Y-axis energized south, 45 ° partially of Z axis energized south, record the pulse number that X, Y, Z axis gyroscope is exported through Δ t second, are respectively G _x(2), G _yand G (2) _z(2);

Position 3: around 180 ° of X-axis forwards, now X-axis is pointed to east to the strap down inertial navigation block position in position 2,45 ° partially of Y-axis energized north, days 45 ° partially of Z axis energized north, record the pulse number that X, Y, Z axis gyroscope is exported through Δ t second, are respectively G _x(3), G _yand G (3) _z(3);

Position 4: make strap down inertial navigation combination X, Y, Z axis gyroscope point to respectively sky, south, the Dong Fangxiang of test point geographic coordinate system, record X, Y, Z axis gyroscope and pass through the pulse number that Δ t exports second, be respectively G _x(4), G _yand G (4) _z(4);

Position 5: around 45 ° of Z axis forwards, now Z axis points to east to the strap down inertial navigation block position in position 4, days 45 ° partially of X-axis energized south, 45 ° partially of Y-axis energized south, record the pulse number that X, Y, Z axis gyroscope is exported through Δ t second, are respectively G _x(5), G _yand G (5) _z(5);

Position 6: around 180 ° of Z axis forwards, now Z axis points to east to the strap down inertial navigation block position in position 5,45 ° partially of X-axis energized north, days 45 ° partially of Y-axis energized north, record the pulse number that X, Y, Z axis gyroscope is exported through Δ t second, are respectively G _x(6), G _yand G (6) _z(6);

Position 7: make strap down inertial navigation combination X, Y, Z axis gyroscope point to respectively south, east, day direction of test point geographic coordinate system, record the pulse number that X, Y, Z axis gyroscope is exported through Δ t second, be respectively G _x(7), G _yand G (7) _z(7);

Position 8: around 45 ° of Y-axis forwards, now Y-axis is pointed to east to the strap down inertial navigation block position in position 7, days 45 ° partially of Z axis energized south, 45 ° partially of X-axis energized south, record the pulse number that X, Y, Z axis gyroscope is exported through Δ t second, are respectively G _x(8), G _yand G (8) _z(8);

Position 9: around 180 ° of Y-axis forwards, now Y-axis is pointed to east to the strap down inertial navigation block position in position 8,45 ° partially of Z axis energized north, days 45 ° partially of X-axis energized north, record the pulse number that X, Y, Z axis gyroscope is exported through Δ t second, are respectively G _x(9), G _yand G (9) _z(9);

Position 10: make strap down inertial navigation combination X, Y, Z axis gyroscope point to respectively test point geographic coordinate system north,, west to, record the pulse number that X, Y, Z axis gyroscope is exported through Δ t second, be respectively G _x(10), G _yand G (10) _z(10);

Position 11: around 45 ° of Z axis forwards, now Z axis points to west to the strap down inertial navigation block position in position 10,45 ° partially of X-axis energized north, 45 ° partially of Y-axis energized south, record the pulse number that X, Y, Z axis gyroscope is exported through Δ t second, are respectively G _x(11), G _yand G (11) _z(11);

Position 12: around 180 ° of Z axis forwards, now Z axis points to west to the strap down inertial navigation block position in position 11, days 45 ° partially of X-axis energized south, days 45 ° partially of Y-axis energized north, record the pulse number that X, Y, Z axis gyroscope is exported through Δ t second, are respectively G _x(12), G _yand G (12) _z(12);

Position 13: make strap down inertial navigation combination X, Y, Z axis gyroscope point to respectively test point geographic coordinate system west, north, local to, record the pulse number that X, Y, Z axis gyroscope is exported through Δ t second, be respectively G _x(13), G _yand G (13) _z(13);

Position 14: around 45 ° of X-axis forwards, now X-axis is pointed to west to the strap down inertial navigation block position in position 13,45 ° partially of Y-axis energized north, 45 ° partially of Z axis energized south, record the pulse number that X, Y, Z axis gyroscope is exported through Δ t second, are respectively G _x(14), G _yand G (14) _z(14);

Position 15: around 180 ° of X-axis forwards, now X-axis is pointed to west to the strap down inertial navigation block position in position 14, days 45 ° partially of Y-axis energized south, days 45 ° partially of Z axis energized north, record the pulse number that X, Y, Z axis gyroscope is exported through Δ t second, are respectively G _x(15), G _yand G (15) _z(15);

Position 16: make ground, west, the north that strap down inertial navigation combination X, Y, Z axis gyroscope points to respectively test point geographic coordinate system to, record the pulse number that X, Y, Z axis gyroscope is exported through Δ t second, be respectively G _x(16), G _yand G (16) _z(16);

Position 17: around 45 ° of Y-axis forwards, now Y-axis is pointed to west to the strap down inertial navigation block position in position 16,45 ° partially of Z axis energized north, 45 ° partially of X-axis energized south, record the pulse number that X, Y, Z axis gyroscope is exported through Δ t second, are respectively G _x(17), G _yand G (17) _z(17);

Position 18: around 180 ° of Y-axis forwards, now Y-axis is pointed to west to the strap down inertial navigation block position in position 17, days 45 ° partially of Z axis energized south, days 45 ° partially of X-axis energized north, write down the pulse number that X, Y, Z axis gyroscope is exported through Δ t second, are respectively G _x(18), G _yand G (18) _z(18).

(2), according to the pulse number of exporting through Measuring Time Δ t in step (1), utilize known gyroscope combination constant multiplier, alignment error angle factor and rotational-angular velocity of the earth to calculate the offset ω of each position j axle _b-ji, wherein, j is X, Y or Z;

The offset ω of i position X, Y, Z axis _b-xi, ω _b-yi, ω _b-zicomputing formula be:

$\left[\begin{array}{c}{\mathrm{\&omega;}}_{b-\mathrm{xi}}\\ {\mathrm{\&omega;}}_{b-\mathrm{yi}}\\ {\mathrm{\&omega;}}_{b-\mathrm{zi}}\end{array}\right]=\left[\begin{array}{c}{G}_x\left(i\right)/(\mathrm{\&Delta;t}\&times;K_{\mathrm{gx}})\\ G_y\left(i\right)/(\mathrm{\&Delta;t}\&times;K_{\mathrm{gy}})\\ G_z\left(i\right)/(\mathrm{\&Delta;t}\&times;K_{\mathrm{gz}})\end{array}\right]-\left[\begin{array}{ccc}1& E_{\mathrm{YX}}& E_{\mathrm{ZX}}\\ E_{\mathrm{XY}}& 1& E_{\mathrm{ZY}}\\ E_{\mathrm{XZ}}& E_{\mathrm{YZ}}& 1\end{array}\right]\left[\begin{array}{c}{\mathrm{\&omega;}}_x\left(i\right)\\ {\mathrm{\&omega;}}_y\left(i\right)\\ {\mathrm{\&omega;}}_z\left(i\right)\end{array}\right]$

Wherein, K _gx, K _gy, K _gzfor strap down inertial navigation combination gyroscope combination constant multiplier (unit is Pulse/ rad); E _xY, E _xZ, E _yX, E _yZ, E _zX, E _zYfor the alignment error angle (unit is rad) of strap down inertial navigation combination gyroscope combination; ω _x(i), ω _y(i), ω _z(i) while being i position rotational-angular velocity of the earth the component of X, Y, Z axis direction (unit for °/h), the rotational-angular velocity of the earth of each position is as shown in the table at the component of X, Y, Z axis direction, ω _efor earth rotation angular speed (unit is °/h),

for testing location latitude.

(3) according to the offset of 18 the position j axles of gyroscope combination that obtain in step (2), utilize formula

obtain the strap down inertial navigation combination gyroscope combination error model ω ' relevant with apparent acceleration on j direction of principal axis _j=D _0j+ D _1ja _x+ D _2ja _y+ D _3ja _z+ D _4ja _x ²+ D _5ja _y ²+ D _6ja _z ²+ D _7ja _xa _y+ D _8ja _ya _z+ D _9ja _xa _zin zero degree item error coefficient D _0jinitial value D _0j-O;

Wherein, ω ' _jfor the output valve of this error model (unit is °/h), a _x, a _y, a _zfor apparent acceleration respectively the component in X, Y, Z axis direction (unit is g ₀), be given value, the component a of the apparent acceleration of each position in X, Y, Z axis direction _xi, a _yi, a _zias shown in the table.

D _0jfor strap down inertial navigation combination gyroscope zero degree item error coefficient (unit is °/h); D _1j, D ₂, D _3jfor the strap down inertial navigation combination gyroscope combination once item error coefficient relevant with apparent acceleration, (unit is °/h/g ₀); D _4j, D _5j, D _6jfor the strap down inertial navigation combination gyroscope combination quadratic term error coefficient relevant with apparent acceleration, (unit is °/h/g ₀ ²); D _7j, D _8j, D _9jfor the strap down inertial navigation combination gyroscope combination cross-couplings item error coefficient relevant with apparent acceleration, (unit is °/h/g ₀ ²); J is X, Y or Z.

(4) according to the initial value of the zero degree item error coefficient in the error model relevant with apparent acceleration of strap down inertial navigation combination gyroscope combination on the j direction of principal axis obtaining in the offset of 18 the position j axles of gyroscope combination that obtain in step (2) and step (3), calculate strap down inertial navigation combination gyroscope on j direction of principal axis and combine the every coefficient value in the error model that does not comprise zero degree item coefficient relevant with apparent acceleration, wherein, j is X, Y or Z;

The error model that does not comprise zero degree item coefficient on j direction of principal axis is:

ω′ _j=D _1ja _x+D _2ja _y+D _3ja _z+D _4ja _x ²+D _5ja _y ²+D _6ja _z ²+D _7ja _xa _y+D _8ja _ya _z+D _9ja _xa _z

Wherein, ω ' _jfor the output valve of this error model (unit is °/h), now its output valve computing formula is when i position:

ω′ _xi=ω _b-xi-D _0x-O

ω′ _yi=ω _b-yi-D _0y-O

ω′ _zi=ω _b-zi-D _0z-O

The computing formula of every coefficient is as follows:

Once the error coefficient D of X-axis to j axle _1jcomputing formula be:

$D_{1j}=\frac{1}{12}[2({\mathrm{\&omega;}}_{j4}^{\text{'}}-{\mathrm{\&omega;}}_{j16}^{\text{'}})+\sqrt{2}({\mathrm{\&omega;}}_{j5}^{\text{'}}-{\mathrm{\&omega;}}_{j6}^{\text{'}}-{\mathrm{\&omega;}}_{j8}^{\text{'}}+{\mathrm{\&omega;}}_{j9}^{\text{'}}-{\mathrm{\&omega;}}_{j11}^{\text{'}}+{\mathrm{\&omega;}}_{j12}^{\text{'}}-{\mathrm{\&omega;}}_{j17}^{\text{'}}+{\mathrm{\&omega;}}_{j18}^{\text{'}})]$

The Monomial coefficient D of Y-axis to j axle _2jcomputing formula be:

$D_{2j}=\frac{1}{12}[2({\mathrm{\&omega;}}_{j1}^{\text{'}}-{\mathrm{\&omega;}}_{j10}^{\text{'}})+\sqrt{2}({\mathrm{\&omega;}}_{j2}^{\text{'}}-{\mathrm{\&omega;}}_{j3}^{\text{'}}-{\mathrm{\&omega;}}_{j5}^{\text{'}}+{\mathrm{\&omega;}}_{j6}^{\text{'}}-{\mathrm{\&omega;}}_{j11}^{\text{'}}+{\mathrm{\&omega;}}_{j12}^{\text{'}}-{\mathrm{\&omega;}}_{j14}^{\text{'}}+{\mathrm{\&omega;}}_{j15}^{\text{'}})]$

The Monomial coefficient D of Z axis to j axle _3jcomputing formula be:

$D_{3j}=\frac{1}{12}[2({\mathrm{\&omega;}}_{j7}^{\text{'}}-{\mathrm{\&omega;}}_{j13}^{\text{'}})+\sqrt{2}({-\mathrm{\&omega;}}_{j2}^{\text{'}}+{\mathrm{\&omega;}}_{j3}^{\text{'}}-{\mathrm{\&omega;}}_{j8}^{\text{'}}-{\mathrm{\&omega;}}_{j9}^{\text{'}}-{\mathrm{\&omega;}}_{j14}^{\text{'}}+{\mathrm{\&omega;}}_{j15}^{\text{'}}-{\mathrm{\&omega;}}_{j17}^{\text{'}}+{\mathrm{\&omega;}}_{j18}^{\text{'}})]$

The quadratic term coefficient D of X-axis to j axle _4jcomputing formula be:

$\begin{array}{c}{D}_{4j}=\frac{1}{18}[5({\mathrm{\&omega;}}_{j4}^{\text{'}}+{\mathrm{\&omega;}}_{j16}^{\text{'}})+2({\mathrm{\&omega;}}_{j5}^{\text{'}}+{\mathrm{\&omega;}}_{j6}^{\text{'}}+{\mathrm{\&omega;}}_{j8}^{\text{'}}+{\mathrm{\&omega;}}_{j9}^{\text{'}}+{\mathrm{\&omega;}}_{j11}^{\text{'}}+{\mathrm{\&omega;}}_{j12}^{\text{'}}+{\mathrm{\&omega;}}_{j17}^{\text{'}}+{\mathrm{\&omega;}}_{j18}^{\text{'}})\\ -{\mathrm{\&omega;}}_{j1}^{\text{'}}-{\mathrm{\&omega;}}_{j2}^{\text{'}}-{\mathrm{\&omega;}}_{j3}^{\text{'}}-{\mathrm{\&omega;}}_{j7}^{\text{'}}-{\mathrm{\&omega;}}_{j10}^{\text{'}}-{\mathrm{\&omega;}}_{j13}^{\text{'}}-{\mathrm{\&omega;}}_{j14}^{\text{'}}-{\mathrm{\&omega;}}_{j15}^{\text{'}}]\end{array}$

The quadratic term coefficient D of Y-axis to j axle _5jcomputing formula be:

$\begin{array}{c}{D}_{5j}=\frac{1}{18}[5({\mathrm{\&omega;}}_{j1}^{\text{'}}+{\mathrm{\&omega;}}_{j10}^{\text{'}})+2({\mathrm{\&omega;}}_{j2}^{\text{'}}+{\mathrm{\&omega;}}_{j3}^{\text{'}}+{\mathrm{\&omega;}}_{j5}^{\text{'}}+{\mathrm{\&omega;}}_{j6}^{\text{'}}+{\mathrm{\&omega;}}_{j11}^{\text{'}}+{\mathrm{\&omega;}}_{j12}^{\text{'}}+{\mathrm{\&omega;}}_{j14}^{\text{'}}+{\mathrm{\&omega;}}_{j15}^{\text{'}})\\ -{\mathrm{\&omega;}}_{j4}^{\text{'}}-{\mathrm{\&omega;}}_{j7}^{\text{'}}-{\mathrm{\&omega;}}_{j8}^{\text{'}}-{\mathrm{\&omega;}}_{j9}^{\text{'}}-{\mathrm{\&omega;}}_{j13}^{\text{'}}-{\mathrm{\&omega;}}_{j16}^{\text{'}}-{\mathrm{\&omega;}}_{j17}^{\text{'}}-{\mathrm{\&omega;}}_{j18}^{\text{'}}]\end{array}$

The quadratic term coefficient D of Z axis to j axle _6jcomputing formula be:

$\begin{array}{c}{D}_{6j}=\frac{1}{18}[5({\mathrm{\&omega;}}_{j7}^{\text{'}}+{\mathrm{\&omega;}}_{j13}^{\text{'}})+2({\mathrm{\&omega;}}_{j2}^{\text{'}}+{\mathrm{\&omega;}}_{j3}^{\text{'}}+{\mathrm{\&omega;}}_{j8}^{\text{'}}+{\mathrm{\&omega;}}_{j9}^{\text{'}}+{\mathrm{\&omega;}}_{j14}^{\text{'}}+{\mathrm{\&omega;}}_{j15}^{\text{'}}+{\mathrm{\&omega;}}_{j17}^{\text{'}}+{\mathrm{\&omega;}}_{j18}^{\text{'}})\\ -{\mathrm{\&omega;}}_{j1}^{\text{'}}-{\mathrm{\&omega;}}_{j4}^{\text{'}}-{\mathrm{\&omega;}}_{j5}^{\text{'}}-{\mathrm{\&omega;}}_{j6}^{\text{'}}-{\mathrm{\&omega;}}_{j10}^{\text{'}}-{\mathrm{\&omega;}}_{j11}^{\text{'}}-{\mathrm{\&omega;}}_{j12}^{\text{'}}-{\mathrm{\&omega;}}_{j16}^{\text{'}}]\end{array}$

X, the cross-couplings item coefficient D of Y-axis product to j axle _7jcomputing formula be:

$D_{7j}=\frac{1}{2}({-\mathrm{\&omega;}}_{j5}^{\text{'}}-{\mathrm{\&omega;}}_{j6}^{\text{'}}+{\mathrm{\&omega;}}_{j11}^{\text{'}}+{\mathrm{\&omega;}}_{j12}^{\text{'}})$

Y, the cross-couplings item coefficient D of Z-axis direction product to j axle _8jcomputing formula be:

$D_{8j}=\frac{1}{2}({-\mathrm{\&omega;}}_{j2}^{\text{'}}-{\mathrm{\&omega;}}_{j3}^{\text{'}}+{\mathrm{\&omega;}}_{j14}^{\text{'}}+{\mathrm{\&omega;}}_{j15}^{\text{'}})$

X, the cross-couplings item coefficient D of Z-axis direction product to j axle _9jcomputing formula be:

$D_{9j}=\frac{1}{2}({-\mathrm{\&omega;}}_{j8}^{\text{'}}-{\mathrm{\&omega;}}_{j9}^{\text{'}}+{\mathrm{\&omega;}}_{j17}^{\text{'}}+{\mathrm{\&omega;}}_{j18}^{\text{'}}).$

(5) according on the j direction of principal axis obtaining in step (4) not containing the error coefficient value in the error model of zero degree item coefficient, calculate on j direction of principal axis not containing the quadratic term coefficient D in the error model of zero degree item coefficient _4j, D _5jand D _6jconspicuousness numerical value, if quadratic term coefficient significantly carries out step (6) entirely, if quadratic term coefficient be not complete significantly, carry out step (8); J is X, Y or Z;

For on j direction of principal axis not containing k error coefficient D in the error model of zero degree item _kj(k=4,5,6), its conspicuousness numerical value F _0-kfor:

$F_{0-k}=\frac{{D_{\mathrm{kj}}}^2}{l^{k,k}M/(18-9-1)}$

Wherein, l ^k,kfor Φ ^-1the value of the capable k of k row, and, Φ=A ^ta,

$A=\left[\begin{array}{ccccccccc}{a}_{x1}& a_{y1}& a_{z1}& {a_{x1}}^2& {a_{y1}}^2& {a_{z1}}^2& a_{x1}{a}_{y1}& a_{y1}{a}_{z1}& a_{x1}{a}_{z1}\\ a_{x2}& a_{y2}& a_{z2}& {a_{x2}}^2& {a_{y2}}^2& {a_{z2}}^2& a_{x2}{a}_{y2}& a_{y2}{a}_{z2}& a_{x2}{a}_{z2}\\ .& .& .& .& .& .& .& .& .\\ .& .& .& .& .& .& .& .& .\\ .& .& .& .& .& .& .& .& .\\ a_{x18}& a_{y18}& a_{z18}& {a_{x18}}^2& {a_{y18}}^2& {a_{z18}}^2& a_{x18}{a}_{y18}& a_{y18}{a}_{z18}& a_{x18}{a}_{z18}\end{array}\right];$

M=Y ^ty-Y ^ta Φ ^-1a ^ty, and Y=[ω ' _j1ω ' _j2ω ' _j18] ^t, the output valve ω ' that does not contain the error model of zero degree item on j direction of principal axis when i the position _ji=ω _b-ji-D _0j-O, a _xi, a _yi, a _ziwhile being i position apparent acceleration respectively the component in X, Y, Z axis direction (unit is g ₀), be given value;

By F _0-kwith numerical value F _0.99(1,9)=10.6 compare, and work as F _0-k>=F _0.99when (1,9), this term system digital display work; Work as F _0-k<F _0.99when (1,9), this coefficient is not remarkable.

(6) calculate respectively the combination of strap down inertial navigation on the j direction of principal axis gyroscope combination error model that do not comprise zero degree item coefficient relevant with apparent acceleration, do not comprise the error model of X-axis to j axle quadratic term coefficient, do not comprise the error model of Y-axis to j axle quadratic term coefficient and do not comprise the conspicuousness numerical value of the error model of Z axis to j axle quadratic term coefficient; J is X, Y or Z;

The error model that does not comprise zero degree item on j direction of principal axis is:

ω′ _j=D _1ja _x+D _2ja _y+D _3ja _z+D _4ja _x ²+D _5ja _y ²+D _6ja _z ²+D _7ja _xa _y+D _8ja _ya _z+D _9ja _xa _z

Wherein, ω ' _jfor the output valve of this error model (unit is °/h), now its output valve is ω ' when i position _ji=ω _b-ji-D _0j-O;

Its error model conspicuousness numerical value F ₀for:

$F_0=\frac{U_0/9}{P_0/(18-9-1)}$

Wherein, U ₀=Y ^ta Φ ₀ ^-1a ^ty, and, Y=[ω ' _j1ω ' _j2ω ' _j18] ^t, Φ ₀=A ^ta, $A=\left[\begin{array}{ccccccccc}{a}_{x1}& a_{y1}& a_{z1}& {a_{x1}}^2& {a_{y1}}^2& {a_{z1}}^2& a_{x1}{a}_{y1}& a_{y1}{a}_{z1}& a_{x1}{a}_{z1}\\ a_{x2}& a_{y2}& a_{z2}& {a_{x2}}^2& {a_{y2}}^2& {a_{z2}}^2& a_{x2}{a}_{y2}& a_{y2}{a}_{z2}& a_{x2}{a}_{z2}\\ .& .& .& .& .& .& .& .& .\\ .& .& .& .& .& .& .& .& .\\ .& .& .& .& .& .& .& .& .\\ a_{x18}& a_{y18}& a_{z18}& {a_{x18}}^2& {a_{y18}}^2& {a_{z18}}^2& a_{x18}{a}_{y18}& a_{y18}{a}_{z18}& a_{x18}{a}_{z18}\end{array}\right],P_0=Y^{T}Y-U_0,$ A _xi, a _yi, a _ziwhile being i position apparent acceleration respectively the component in X, Y, Z axis direction (unit is g ₀), be given value;

On j direction of principal axis, not comprising X-axis to the error model of j axle quadratic term coefficient is:

ω′ _j=D _0j+D _1ja _x+D _2ja _y+D _3ja _z+D _5ja _y ²+D _6ja _z ²+D _7ja _xa _y+D _8ja _ya _z+D _9ja _xa _z

Wherein, ω ' _jfor the output valve of this error model (unit is °/h), now its output valve is ω ' when i position _ji=ω _b-ji;

Its error model conspicuousness numerical value F _xfor:

$F_x=\frac{U_x/9}{P_x/(18-9-1)}$

Wherein, U _x=Y ^tb _xΦ _x ^-1b _x ^ty, Y=[ω ' _j1ω ' _j2ω ' _j18] ^t, Φ _x=B _x ^tb _x, $B_x=\left[\begin{array}{ccccccccc}1& a_{x1}& a_{y1}& a_{z1}& {a_{y1}}^2& {a_{z1}}^2& a_{x1}{a}_{y1}& a_{y1}{a}_{z1}& a_{x1}{a}_{z1}\\ 1& a_{x2}& a_{y2}& a_{z2}& {a_{y2}}^2& {a_{z2}}^2& a_{x2}{a}_{y2}& a_{y2}{a}_{z2}& a_{x2}{a}_{z2}\\ .& .& .& .& .& .& .& .& .\\ .& .& .& .& .& .& .& .& .\\ .& .& .& .& .& .& .& .& .\\ 1& a_{x18}& a_{y18}& a_{z18}& {a_{y18}}^2& {a_{z18}}^2& a_{x18}{a}_{y18}& a_{y18}{a}_{z18}& a_{x18}{a}_{z18}\end{array}\right],P_x=Y^{T}Y-U_x,$ A _xi, a _yi, a _ziwhile being i position apparent acceleration respectively the component in X, Y, Z axis direction (unit is g ₀), be given value;

On j direction of principal axis, not comprising Y-axis to the error model of j axle quadratic term coefficient is:

ω′ _j=D _0j+D _1ja _x+D _2ja _y+D _3ja _z+D _4ja _x ²+D _6ja _z ²+D _7ja _xa _y+D _8ja _ya _z+D _9ja _xa _z

Wherein, ω ' _jfor the output valve of this error model (unit is °/h), now its output valve is ω ' when i position _ji=ω _b-ji;

Its error model conspicuousness numerical value F _yfor:

$F_y=\frac{U_y/9}{P_y/(18-9-1)}$

Wherein, U _y=Y ^tb _yΦ _y ^-1b _y ^ty, and, Y=[ω ' _j1ω ' _j2ω ' _j18] ^t, Φ _y=B _y ^tb _y, $B_y=\left[\begin{array}{ccccccccc}1& a_{x1}& a_{y1}& a_{z1}& {a_{x1}}^2& {a_{z1}}^2& a_{x1}{a}_{y1}& a_{y1}{a}_{z1}& a_{x1}{a}_{z1}\\ 1& a_{x2}& a_{y2}& a_{z2}& {a_{x2}}^2& {a_{z2}}^2& a_{x2}{a}_{y2}& a_{y2}{a}_{z2}& a_{x2}{a}_{z2}\\ .& .& .& .& .& .& .& .& .\\ .& .& .& .& .& .& .& .& .\\ .& .& .& .& .& .& .& .& .\\ 1& a_{x18}& a_{y18}& a_{z18}& {a_{x18}}^2& {a_{z18}}^2& a_{x18}{a}_{y18}& a_{y18}{a}_{z18}& a_{x18}{a}_{z18}\end{array}\right],P_y=Y^{T}Y-U_y,$ A _xi, a _yi, a _ziwhile being i position apparent acceleration respectively the component in X, Y, Z axis direction (unit is g ₀), be given value;

On j direction of principal axis, not comprising Z axis to the error model of j axle quadratic term coefficient is:

ω′ _j=D _0j+D _1ja _x+D _2ja _y+D _3ja _z+D _4ja _x ²+D _5ja _y ²+D _7ja _xa _y+D _8ja _ya _z+D _9ja _xa _z

Wherein, ω ' _jfor the output valve of this error model (unit is °/h), now its output valve is ω ' when i position _ji=ω _b-ji.

Its error model conspicuousness numerical value F _zfor:

$F_z=\frac{U_z/9}{P_z/(18-9-1)}$

Wherein, U _z=Y ^tb _zΦ _z ^-1b _z ^ty, and, Y=[ω ' _j1ω ' _j2ω ' _j18] ^t, Φ _z=B _z ^tb _z $B_z=\left[\begin{array}{ccccccccc}1& a_{x1}& a_{y1}& a_{z1}& {a_{x1}}^2& {a_{y1}}^2& a_{x1}{a}_{y1}& a_{y1}{a}_{z1}& a_{x1}{a}_{z1}\\ 1& a_{x2}& a_{y2}& a_{z2}& {a_{x2}}^2& {a_{y2}}^2& a_{x2}{a}_{y2}& a_{y2}{a}_{z2}& a_{x2}{a}_{z2}\\ .& .& .& .& .& .& .& .& .\\ .& .& .& .& .& .& .& .& .\\ .& .& .& .& .& .& .& .& .\\ 1& a_{x18}& a_{y18}& a_{z18}& {a_{x18}}^2& {a_{y18}}^2& a_{x18}{a}_{y18}& a_{y18}{a}_{z18}& a_{x18}{a}_{z18}\end{array}\right],P_z=Y^{T}Y-U_z,$ A _xi, a _yi, a _ziwhile being i position, the apparent acceleration component in X, Y, Z axis direction (unit is g0) respectively, is given value.

(7) 4 conspicuousness numerical value that obtain according to step (6), choose the error model of conspicuousness numerical value maximum as the actual error model of j axle; When the actual error model on j direction of principal axis is that while not containing the error model of zero degree item, the coefficient value calculating in step (4) is Gyro unit and is combined in the every coefficient value in error model relevant with apparent acceleration on j direction of principal axis; In the time that the actual error model on j direction of principal axis is other model, all error coefficient values in error of calculation model;

Every coefficient value in error model is fed back in the strap down inertial navigation combination gyroscope combination error model relevant with apparent acceleration, thereby complete the demarcation that strap down inertial navigation combination gyroscope combines;

(8), on the j direction of principal axis of analyzing in step (5), choose the error model of the quadratic term coefficient that does not comprise conspicuousness numerical value minimum as the actual error model on j direction of principal axis; When the actual error model on j direction of principal axis is that while not containing the error model of zero degree item, the coefficient value calculating in step (4) is Gyro unit and is combined in the every coefficient value in error model relevant with apparent acceleration on j direction of principal axis; In the time that the actual error model on j direction of principal axis is other model, all error coefficient values in error of calculation model;

Every coefficient value in error model is fed back in the strap down inertial navigation combination gyroscope combination error model relevant with apparent acceleration, thereby complete the demarcation that strap down inertial navigation combination gyroscope combines.

When the actual error model on j direction of principal axis is not comprise the error model ω ' of X-axis to j axle quadratic term coefficient _j=D _0j+ D _1ja _x+ D _2ja _y+ D _3ja _z+ D _5ja _y ²+ D _6ja _z ²+ D _7ja _xa _y+ D _8ja _ya _z+ D _9ja _xa _ztime, wherein ω ' _jfor the output valve of this error model,, its output valve is ω ' when i the position _ji=ω _b-ji;

Its zero degree item coefficient D _0jcomputing formula be:

$\begin{array}{c}{D}_{0j}=\frac{1}{18}[5({\mathrm{\&omega;}}_{j4}^{\text{'}}+{\mathrm{\&omega;}}_{j16}^{\text{'}})+2({\mathrm{\&omega;}}_{j5}^{\text{'}}+{\mathrm{\&omega;}}_{j6}^{\text{'}}+{\mathrm{\&omega;}}_{j8}^{\text{'}}+{\mathrm{\&omega;}}_{j9}^{\text{'}}+{\mathrm{\&omega;}}_{j11}^{\text{'}}+{\mathrm{\&omega;}}_{j12}^{\text{'}}+{\mathrm{\&omega;}}_{j17}^{\text{'}}+{\mathrm{\&omega;}}_{j18}^{\text{'}})\\ -{\mathrm{\&omega;}}_{j1}^{\text{'}}-{\mathrm{\&omega;}}_{j2}^{\text{'}}-{\mathrm{\&omega;}}_{j3}^{\text{'}}-{\mathrm{\&omega;}}_{j7}^{\text{'}}-{\mathrm{\&omega;}}_{j10}^{\text{'}}-{\mathrm{\&omega;}}_{j13}^{\text{'}}-{\mathrm{\&omega;}}_{j14}^{\text{'}}-{\mathrm{\&omega;}}_{j15}^{\text{'}}]\end{array}$

The Monomial coefficient D of X-axis to j axle _1jcomputing formula be:

$D_{1j}=\frac{1}{12}[2({\mathrm{\&omega;}}_{j4}^{\text{'}}-{\mathrm{\&omega;}}_{j16}^{\text{'}})+\sqrt{2}({\mathrm{\&omega;}}_{j5}^{\text{'}}-{\mathrm{\&omega;}}_{j6}^{\text{'}}-{\mathrm{\&omega;}}_{j8}^{\text{'}}+{\mathrm{\&omega;}}_{j9}^{\text{'}}-{\mathrm{\&omega;}}_{j11}^{\text{'}}+{\mathrm{\&omega;}}_{j12}^{\text{'}}-{\mathrm{\&omega;}}_{j17}^{\text{'}}+{\mathrm{\&omega;}}_{j18}^{\text{'}})]$

The Monomial coefficient D of Y-axis to j axle _2jcomputing formula be:

$D_{2j}=\frac{1}{12}[2({\mathrm{\&omega;}}_{j1}^{\text{'}}-{\mathrm{\&omega;}}_{j10}^{\text{'}})+\sqrt{2}({\mathrm{\&omega;}}_{j2}^{\text{'}}-{\mathrm{\&omega;}}_{j3}^{\text{'}}-{\mathrm{\&omega;}}_{j5}^{\text{'}}+{\mathrm{\&omega;}}_{j6}^{\text{'}}-{\mathrm{\&omega;}}_{j11}^{\text{'}}+{\mathrm{\&omega;}}_{j12}^{\text{'}}-{\mathrm{\&omega;}}_{j14}^{\text{'}}+{\mathrm{\&omega;}}_{j15}^{\text{'}})]$

The Monomial coefficient D of Z axis to j axle _3jcomputing formula be:

$D_{3j}=\frac{1}{12}[2({\mathrm{\&omega;}}_{j7}^{\text{'}}-{\mathrm{\&omega;}}_{j13}^{\text{'}})+\sqrt{2}({-\mathrm{\&omega;}}_{j2}^{\text{'}}+{\mathrm{\&omega;}}_{j3}^{\text{'}}+{\mathrm{\&omega;}}_{j8}^{\text{'}}-{\mathrm{\&omega;}}_{j9}^{\text{'}}-{\mathrm{\&omega;}}_{j14}^{\text{'}}+{\mathrm{\&omega;}}_{j15}^{\text{'}}-{\mathrm{\&omega;}}_{j17}^{\text{'}}+{\mathrm{\&omega;}}_{j18}^{\text{'}})]$

The quadratic term coefficient D of Y-axis to j axle _5jcomputing formula be:

$D_{5j}=\frac{1}{6}\left[2({\mathrm{\&omega;}}_{j1}^{\text{'}}-{\mathrm{\&omega;}}_{j14}^{\text{'}}+{\mathrm{\&omega;}}_{j10}^{\text{'}}-{\mathrm{\&omega;}}_{j16}^{\text{'}}){+\mathrm{\&omega;}}_{j2}^{\text{'}}+{\mathrm{\&omega;}}_{j3}^{\text{'}}-{\mathrm{\&omega;}}_{j8}^{\text{'}}-{\mathrm{\&omega;}}_{j9}^{\text{'}}-{\mathrm{\&omega;}}_{j14}^{\text{'}}+{\mathrm{\&omega;}}_{j15}^{\text{'}}-{\mathrm{\&omega;}}_{j17}^{\text{'}}+{\mathrm{\&omega;}}_{j18}^{\text{'}}\right]$

The quadratic term coefficient D of Z axis to j axle _6jcomputing formula be:

$D_{6j}=\frac{1}{6}\left[2({-\mathrm{\&omega;}}_{j4}^{\text{'}}+{\mathrm{\&omega;}}_{j7}^{\text{'}}+{\mathrm{\&omega;}}_{j13}^{\text{'}}-{\mathrm{\&omega;}}_{j16}^{\text{'}}){+\mathrm{\&omega;}}_{j2}^{\text{'}}+{\mathrm{\&omega;}}_{j3}^{\text{'}}-{\mathrm{\&omega;}}_{j5}^{\text{'}}-{\mathrm{\&omega;}}_{j6}^{\text{'}}-{\mathrm{\&omega;}}_{j11}^{\text{'}}-{\mathrm{\&omega;}}_{j12}^{\text{'}}+{\mathrm{\&omega;}}_{j14}^{\text{'}}+{\mathrm{\&omega;}}_{j15}^{\text{'}}\right]$

X, the cross-couplings item coefficient D of Y-axis product to j axle _7jcomputing formula be:

$D_{7j}=\frac{1}{2}({-\mathrm{\&omega;}}_{j5}^{\text{'}}-{\mathrm{\&omega;}}_{j6}^{\text{'}}+{\mathrm{\&omega;}}_{j11}^{\text{'}}+{\mathrm{\&omega;}}_{j12}^{\text{'}})$

Y, the cross-couplings item coefficient D of Z-axis direction product to j axle _8jcomputing formula be:

$D_{8j}=\frac{1}{2}({-\mathrm{\&omega;}}_{j2}^{\text{'}}-{\mathrm{\&omega;}}_{j3}^{\text{'}}+{\mathrm{\&omega;}}_{j14}^{\text{'}}+{\mathrm{\&omega;}}_{j15}^{\text{'}})$

X, the cross-couplings item coefficient D of Z-axis direction product to j axle _9jcomputing formula be:

$D_{9j}=\frac{1}{2}({-\mathrm{\&omega;}}_{j8}^{\text{'}}-{\mathrm{\&omega;}}_{j9}^{\text{'}}+{\mathrm{\&omega;}}_{j17}^{\text{'}}+{\mathrm{\&omega;}}_{j18}^{\text{'}}).$

When the actual error model on j direction of principal axis is not comprise the error model ω ' of Y-axis to j axle quadratic term coefficient _j=D _0j+ D _1ja _x+ D _2ja _y+ D _3ja _z+ D _4ja _x ²+ D _6ja _z ²+ D _7ja _xa _y+ D _8ja _ya _z+ D _9ja _xa _ztime, wherein ω ' _jfor the output valve of this error model,, its output valve is ω ' when i the position _ji=ω _b-ji;

Zero degree item coefficient D _0jcomputing formula be:

$\begin{array}{c}{D}_{0j}=\frac{1}{18}[5({\mathrm{\&omega;}}_{j1}^{\text{'}}+{\mathrm{\&omega;}}_{j10}^{\text{'}})+2({\mathrm{\&omega;}}_{j2}^{\text{'}}+{\mathrm{\&omega;}}_{j3}^{\text{'}}+{\mathrm{\&omega;}}_{j5}^{\text{'}}+{\mathrm{\&omega;}}_{j6}^{\text{'}}+{\mathrm{\&omega;}}_{j11}^{\text{'}}+{\mathrm{\&omega;}}_{j12}^{\text{'}}+{\mathrm{\&omega;}}_{j14}^{\text{'}}+{\mathrm{\&omega;}}_{j15}^{\text{'}})\\ -{\mathrm{\&omega;}}_{j4}^{\text{'}}-{\mathrm{\&omega;}}_{j7}^{\text{'}}-{\mathrm{\&omega;}}_{j8}^{\text{'}}-{\mathrm{\&omega;}}_{j9}^{\text{'}}-{\mathrm{\&omega;}}_{j13}^{\text{'}}-{\mathrm{\&omega;}}_{j16}^{\text{'}}-{\mathrm{\&omega;}}_{j17}^{\text{'}}-{\mathrm{\&omega;}}_{j18}^{\text{'}}]\end{array}$

The Monomial coefficient D of X-axis to j axle _1jcomputing formula be:

$D_{1j}=\frac{1}{12}[2({\mathrm{\&omega;}}_{j4}^{\text{'}}-{\mathrm{\&omega;}}_{j16}^{\text{'}})+\sqrt{2}({\mathrm{\&omega;}}_{j5}^{\text{'}}-{\mathrm{\&omega;}}_{j6}^{\text{'}}-{\mathrm{\&omega;}}_{j8}^{\text{'}}+{\mathrm{\&omega;}}_{j9}^{\text{'}}-{\mathrm{\&omega;}}_{j11}^{\text{'}}+{\mathrm{\&omega;}}_{j12}^{\text{'}}-{\mathrm{\&omega;}}_{j17}^{\text{'}}+{\mathrm{\&omega;}}_{j18}^{\text{'}})]$

The Monomial coefficient D of Y-axis to j axle _2jcomputing formula be:

$D_{2j}=\frac{1}{12}[2({\mathrm{\&omega;}}_{j1}^{\text{'}}-{\mathrm{\&omega;}}_{j10}^{\text{'}})+\sqrt{2}({\mathrm{\&omega;}}_{j2}^{\text{'}}-{\mathrm{\&omega;}}_{j3}^{\text{'}}-{\mathrm{\&omega;}}_{j5}^{\text{'}}+{\mathrm{\&omega;}}_{j6}^{\text{'}}-{\mathrm{\&omega;}}_{j11}^{\text{'}}+{\mathrm{\&omega;}}_{j12}^{\text{'}}-{\mathrm{\&omega;}}_{j14}^{\text{'}}+{\mathrm{\&omega;}}_{j15}^{\text{'}})]$

The Monomial coefficient D of Z axis to j axle _3jcomputing formula be:

$D_{3j}=\frac{1}{12}[2({\mathrm{\&omega;}}_{j7}^{\text{'}}-{\mathrm{\&omega;}}_{j13}^{\text{'}})+\sqrt{2}({-\mathrm{\&omega;}}_{j2}^{\text{'}}+{\mathrm{\&omega;}}_{j3}^{\text{'}}-{\mathrm{\&omega;}}_{j8}^{\text{'}}-{\mathrm{\&omega;}}_{j9}^{\text{'}}-{\mathrm{\&omega;}}_{j14}^{\text{'}}+{\mathrm{\&omega;}}_{j15}^{\text{'}}-{\mathrm{\&omega;}}_{j17}^{\text{'}}+{\mathrm{\&omega;}}_{j18}^{\text{'}})]$

The quadratic term coefficient D of X-axis to j axle _4jcomputing formula be:

$\begin{array}{c}{D}_{4j}=\frac{1}{6}[2({-\mathrm{\&omega;}}_{j1}^{\text{'}}+{\mathrm{\&omega;}}_{j4}^{\text{'}}{-\mathrm{\&omega;}}_{j10}^{\text{'}}+{\mathrm{\&omega;}}_{j16}^{\text{'}})-{\mathrm{\&omega;}}_{j2}^{\text{'}}-{\mathrm{\&omega;}}_{j3}^{\text{'}}+{\mathrm{\&omega;}}_{j8}^{\text{'}}+{\mathrm{\&omega;}}_{j9}^{\text{'}}-{\mathrm{\&omega;}}_{j14}^{\text{'}}-{\mathrm{\&omega;}}_{j15}^{\text{'}}+{\mathrm{\&omega;}}_{j17}^{\text{'}}+{\mathrm{\&omega;}}_{j18}^{\text{'}}]\end{array}$

The quadratic term coefficient D of Z axis to j axle _6jcomputing formula be:

$\begin{array}{c}{D}_{6j}=\frac{1}{6}[2({-\mathrm{\&omega;}}_{j1}^{\text{'}}+{\mathrm{\&omega;}}_{j7}^{\text{'}}{-\mathrm{\&omega;}}_{j10}^{\text{'}}+{\mathrm{\&omega;}}_{j13}^{\text{'}})-{\mathrm{\&omega;}}_{j5}^{\text{'}}-{\mathrm{\&omega;}}_{j6}^{\text{'}}+{\mathrm{\&omega;}}_{j8}^{\text{'}}+{\mathrm{\&omega;}}_{j9}^{\text{'}}-{\mathrm{\&omega;}}_{j11}^{\text{'}}-{\mathrm{\&omega;}}_{j12}^{\text{'}}+{\mathrm{\&omega;}}_{j17}^{\text{'}}+{\mathrm{\&omega;}}_{j18}^{\text{'}}]\end{array}$

X, the cross-couplings item coefficient D of Y-axis product to j axle _7jcomputing formula be:

$D_{7j}=\frac{1}{2}({-\mathrm{\&omega;}}_{j5}^{\text{'}}-{\mathrm{\&omega;}}_{j6}^{\text{'}}+{\mathrm{\&omega;}}_{j11}^{\text{'}}+{\mathrm{\&omega;}}_{j12}^{\text{'}})$

Y, the cross-couplings item coefficient D of Z-axis direction product to j axle _8jcomputing formula be:

$D_{8j}=\frac{1}{2}({-\mathrm{\&omega;}}_{j2}^{\text{'}}-{\mathrm{\&omega;}}_{j3}^{\text{'}}+{\mathrm{\&omega;}}_{j14}^{\text{'}}+{\mathrm{\&omega;}}_{j15}^{\text{'}})$

X, the cross-couplings item coefficient D of Z-axis direction product to j axle _9jcomputing formula be:

$D_{9j}=\frac{1}{2}({-\mathrm{\&omega;}}_{j8}^{\text{'}}-{\mathrm{\&omega;}}_{j9}^{\text{'}}+{\mathrm{\&omega;}}_{j17}^{\text{'}}+{\mathrm{\&omega;}}_{j18}^{\text{'}}).$

When the actual error model on j direction of principal axis is not comprise the error model ω ' of Z axis to j axle quadratic term coefficient _j=D _0j+ D _1ja _x+ D _2ja _y+ D _3ja _z+ D _4ja _x ²+ D _5ja _y ²+ D _7ja _xa ^y+ D _8ja _ya _z+ D _9ja _xa _ztime, wherein ω ' _jfor the output valve of this error model,, its output valve is ω ' when i the position _ji=ω _b-ji;

Zero degree item coefficient D _0jcomputing formula be:

$\begin{array}{c}{D}_{0j}=\frac{1}{18}[5({\mathrm{\&omega;}}_{j7}^{\text{'}}+{\mathrm{\&omega;}}_{j13}^{\text{'}})+2({\mathrm{\&omega;}}_{j2}^{\text{'}}+{\mathrm{\&omega;}}_{j3}^{\text{'}}+{\mathrm{\&omega;}}_{j8}^{\text{'}}+{\mathrm{\&omega;}}_{j9}^{\text{'}}+{\mathrm{\&omega;}}_{j14}^{\text{'}}+{\mathrm{\&omega;}}_{j15}^{\text{'}}+{\mathrm{\&omega;}}_{j17}^{\text{'}}+{\mathrm{\&omega;}}_{j18}^{\text{'}})\\ -{\mathrm{\&omega;}}_{j1}^{\text{'}}-{\mathrm{\&omega;}}_{j4}^{\text{'}}-{\mathrm{\&omega;}}_{j5}^{\text{'}}-{\mathrm{\&omega;}}_{j6}^{\text{'}}-{\mathrm{\&omega;}}_{j10}^{\text{'}}-{\mathrm{\&omega;}}_{j11}^{\text{'}}-{\mathrm{\&omega;}}_{j12}^{\text{'}}-{\mathrm{\&omega;}}_{j16}^{\text{'}}]\end{array}$

The Monomial coefficient D of X-axis to j axle _1jcomputing formula be:

$D_{1j}=\frac{1}{12}[2({\mathrm{\&omega;}}_{j4}^{\text{'}}-{\mathrm{\&omega;}}_{j16}^{\text{'}})+\sqrt{2}({\mathrm{\&omega;}}_{j5}^{\text{'}}-{\mathrm{\&omega;}}_{j6}^{\text{'}}-{\mathrm{\&omega;}}_{j8}^{\text{'}}+{\mathrm{\&omega;}}_{j9}^{\text{'}}-{\mathrm{\&omega;}}_{j11}^{\text{'}}+{\mathrm{\&omega;}}_{j12}^{\text{'}}-{\mathrm{\&omega;}}_{j17}^{\text{'}}+{\mathrm{\&omega;}}_{j18}^{\text{'}})]$

The Monomial coefficient D of Y-axis to j axle _2jcomputing formula be:

$D_{2j}=\frac{1}{12}[2({\mathrm{\&omega;}}_{j1}^{\text{'}}-{\mathrm{\&omega;}}_{j10}^{\text{'}})+\sqrt{2}({\mathrm{\&omega;}}_{j2}^{\text{'}}-{\mathrm{\&omega;}}_{j3}^{\text{'}}-{\mathrm{\&omega;}}_{j5}^{\text{'}}+{\mathrm{\&omega;}}_{j6}^{\text{'}}-{\mathrm{\&omega;}}_{j11}^{\text{'}}+{\mathrm{\&omega;}}_{j12}^{\text{'}}-{\mathrm{\&omega;}}_{j14}^{\text{'}}+{\mathrm{\&omega;}}_{j15}^{\text{'}})]$

The Monomial coefficient D of Z axis to j axle _3jcomputing formula be:

$D_{3j}=\frac{1}{12}[2({\mathrm{\&omega;}}_{j7}^{\text{'}}-{\mathrm{\&omega;}}_{j13}^{\text{'}})+\sqrt{2}({-\mathrm{\&omega;}}_{j2}^{\text{'}}+{\mathrm{\&omega;}}_{j3}^{\text{'}}+{\mathrm{\&omega;}}_{j8}^{\text{'}}-{\mathrm{\&omega;}}_{j9}^{\text{'}}-{\mathrm{\&omega;}}_{j14}^{\text{'}}+{\mathrm{\&omega;}}_{j15}^{\text{'}}-{\mathrm{\&omega;}}_{j17}^{\text{'}}+{\mathrm{\&omega;}}_{j18}^{\text{'}})]$

The quadratic term coefficient D of X-axis to j axle _4jcomputing formula be:

$\begin{array}{c}{D}_{4j}=\frac{1}{6}[2({\mathrm{\&omega;}}_{j4}^{\text{'}}-{\mathrm{\&omega;}}_{j7}^{\text{'}}{-\mathrm{\&omega;}}_{j13}^{\text{'}}+{\mathrm{\&omega;}}_{j16}^{\text{'}})-{\mathrm{\&omega;}}_{j2}^{\text{'}}-{\mathrm{\&omega;}}_{j3}^{\text{'}}+{\mathrm{\&omega;}}_{j5}^{\text{'}}+{\mathrm{\&omega;}}_{j6}^{\text{'}}+{\mathrm{\&omega;}}_{j11}^{\text{'}}+{\mathrm{\&omega;}}_{j12}^{\text{'}}-{\mathrm{\&omega;}}_{j17}^{\text{'}}-{\mathrm{\&omega;}}_{j18}^{\text{'}}]\end{array}$

The quadratic term coefficient D of Y-axis to j axle _5jcomputing formula be:

$\begin{array}{c}{D}_{5j}=\frac{1}{6}[2({\mathrm{\&omega;}}_{j1}^{\text{'}}-{\mathrm{\&omega;}}_{j7}^{\text{'}}{+\mathrm{\&omega;}}_{j10}^{\text{'}}-{\mathrm{\&omega;}}_{j13}^{\text{'}})+{\mathrm{\&omega;}}_{j5}^{\text{'}}+{\mathrm{\&omega;}}_{j6}^{\text{'}}-{\mathrm{\&omega;}}_{j8}^{\text{'}}-{\mathrm{\&omega;}}_{j9}^{\text{'}}+{\mathrm{\&omega;}}_{j11}^{\text{'}}+{\mathrm{\&omega;}}_{j12}^{\text{'}}-{\mathrm{\&omega;}}_{j17}^{\text{'}}-{\mathrm{\&omega;}}_{j18}^{\text{'}}]\end{array}$

X, the cross-couplings item coefficient D of Y-axis product to j axle _7jcomputing formula be:

$D_{7j}=\frac{1}{2}({-\mathrm{\&omega;}}_{j5}^{\text{'}}-{\mathrm{\&omega;}}_{j6}^{\text{'}}+{\mathrm{\&omega;}}_{j11}^{\text{'}}+{\mathrm{\&omega;}}_{j12}^{\text{'}})$

Y, the cross-couplings item coefficient D of Z-axis direction product to j axle _8jcomputing formula be:

$D_{8j}=\frac{1}{2}({-\mathrm{\&omega;}}_{j2}^{\text{'}}-{\mathrm{\&omega;}}_{j3}^{\text{'}}+{\mathrm{\&omega;}}_{j14}^{\text{'}}+{\mathrm{\&omega;}}_{j15}^{\text{'}})$

X, the cross-couplings item coefficient D of Z-axis direction product to j axle _9jcomputing formula be:

$D_{9j}=\frac{1}{2}({-\mathrm{\&omega;}}_{j8}^{\text{'}}-{\mathrm{\&omega;}}_{j9}^{\text{'}}+{\mathrm{\&omega;}}_{j17}^{\text{'}}+{\mathrm{\&omega;}}_{j18}^{\text{'}}).$

In practical application, first, determine the X, Y, Z axis direction of strap down inertial navigation combination, and before demarcation, gyroscope is combined and carries out abundant preheating.Then, inertia combination is successively discharged as position shown in Fig. 2, and in the time of i position record through the pulse value G of three accelerometer outputs after Δ t second _x(i), G _yand G (i) _z(i).For a change in coordinate axis direction, calculate the each error coefficient in this error model that does not axially comprise zero degree item and carry out significance analysis according to formula.In the time that quadratic term coefficient is entirely remarkable, calculating respectively this axle does not comprise zero degree item, does not comprise X-axis quadratic term, do not comprise Y-axis quadratic term and does not comprise the conspicuousness numerical value of four kinds of error models of Z axis quadratic term, the actual error model that the model of choosing conspicuousness numerical value maximum is this axle, and use respective formula to calculate the each error coefficient in model; When quadratic term coefficient is complete significantly time, using the error model of quadratic term coefficient that does not comprise conspicuousness numerical value minimum as the actual error model of this axle, and use respective formula to calculate the each error coefficient in model.Three coordinate axis are as above calculated respectively, can be calculated all gyroscope combinations all error coefficients relevant to apparent acceleration.

The present invention not detailed description is known to the skilled person technology.

Claims (9)

1. a method of demarcating the combination of strap down inertial navigation combination gyroscope, is characterized in that step is as follows:

(1) strap down inertial navigation combination is statically placed in to 18 positions, in the time of i position, gathers the combination of X, Y, Z axis gyroscope and pass through the pulse number G that Δ t exports second _x(i), G _yand G (i) _z(i), i ∈ [1,18] wherein;

(2), according to the pulse number of exporting through Measuring Time Δ t in step (1), utilize known gyroscope combination constant multiplier, alignment error angle factor and rotational-angular velocity of the earth to calculate the offset ω of each position j axle _b-ji, wherein, j is X, Y or Z;

(3) strap down inertial navigation combination gyroscope error model relevant with apparent acceleration on j direction of principal axis is ω ' _j=D _0j+ D _1ja _x+ D _2ja _y+ D _3ja _z+ D _4ja _x ²+ D _5ja _y ²+ D _6ja _z ²+ D _7ja _xa _y+ D _8ja _ya _z+ D _9ja _xa _z, according to the offset of 18 the position j axles of gyroscope combination that obtain in step (2), utilize formula obtain the zero degree item error coefficient D in this error model _0jinitial value D _0j-O;

Wherein, ω ' _jfor the output valve of this error model, a _x, a _y, a _zfor the apparent acceleration component in X, Y, Z axis direction respectively; D _0jfor strap down inertial navigation combination gyroscope zero degree item error coefficient; D _1j, D _2j, D _3jfor strap down inertial navigation combination gyroscope combination once the error coefficient relevant with apparent acceleration; D _4j, D _5j, D _6jfor the strap down inertial navigation combination gyroscope combination quadratic term error coefficient relevant with apparent acceleration; D _7j, D _8j, D _9jfor the strap down inertial navigation combination gyroscope combination cross-couplings item error coefficient relevant with apparent acceleration; J is X, Y or Z;

(4) according to the initial value of the zero degree item error coefficient in the error model relevant with apparent acceleration of strap down inertial navigation combination gyroscope combination on the j direction of principal axis obtaining in the offset of 18 the position j axles of gyroscope combination that obtain in step (2) and step (3), calculate strap down inertial navigation combination gyroscope on j direction of principal axis and combine the every coefficient value in the error model that does not comprise zero degree item coefficient relevant with apparent acceleration, wherein, j is X, Y or Z;

(5) according on the j direction of principal axis obtaining in step (4) not containing the error coefficient value in the error model of zero degree item coefficient, calculate on j direction of principal axis not containing the quadratic term coefficient D in the error model of zero degree item coefficient _4j, D _5jand D _6jconspicuousness numerical value, if quadratic term coefficient significantly carries out step (6) entirely, if quadratic term coefficient be not complete significantly, carry out step (8);

(6) calculate respectively the combination of strap down inertial navigation on the j direction of principal axis gyroscope combination error model that do not comprise zero degree item coefficient relevant with apparent acceleration, do not comprise the error model of X-axis to j axle quadratic term coefficient, do not comprise the error model of Y-axis to j axle quadratic term coefficient and do not comprise the conspicuousness numerical value of the error model of Z axis to j axle quadratic term coefficient;

(7) 4 conspicuousness numerical value that obtain according to step (6), choose the error model of conspicuousness numerical value maximum as the actual error model of j axle; When the actual error model on j direction of principal axis is that while not containing the error model of zero degree item, the coefficient value calculating in step (4) is Gyro unit and is combined in the every coefficient value in error model relevant with apparent acceleration on j direction of principal axis; In the time that the actual error model on j direction of principal axis is other model, all error coefficient values in error of calculation model;

Every coefficient value in error model is fed back in the strap down inertial navigation combination gyroscope combination error model relevant with apparent acceleration, thereby complete the demarcation that strap down inertial navigation combination gyroscope combines;

(8), on the j direction of principal axis of analyzing in step (5), choose the error model of the quadratic term coefficient that does not comprise conspicuousness numerical value minimum as the actual error model on j direction of principal axis; When the actual error model on j direction of principal axis is that while not containing the error model of zero degree item, the coefficient value calculating in step (4) is Gyro unit and is combined in the every coefficient value in error model relevant with apparent acceleration on j direction of principal axis; In the time that the actual error model on j direction of principal axis is other model, all error coefficient values in error of calculation model;

Every coefficient value in error model is fed back in the strap down inertial navigation combination gyroscope combination error model relevant with apparent acceleration, thereby complete the demarcation that strap down inertial navigation combination gyroscope combines.

2. a kind of method of demarcating the combination of strap down inertial navigation combination gyroscope according to claim 1, is characterized in that: in described step (1), 18 positions of strap down inertial navigation combination are respectively:

Position 1: make strap down inertial navigation combination X, Y, Z axis gyroscope point to respectively test point geographic coordinate system east, sky, southern to;

Position 2: around 45 ° of X-axis forwards, now X-axis is pointed to east to the strap down inertial navigation block position in position 1,45 °, the inclined to one side sky of Y-axis energized south, 45 ° partially of Z axis energized south;

Position 3: around 180 ° of X-axis forwards, now X-axis is pointed to east to the strap down inertial navigation block position in position 2,45 ° partially of Y-axis energized north, 45 °, the inclined to one side sky of Z axis energized north;

Position 4: make strap down inertial navigation combination X, Y, Z axis gyroscope point to respectively sky, south, the Dong Fangxiang of test point geographic coordinate system;

Position 5: around 45 ° of Z axis forwards, now Z axis points to east to the strap down inertial navigation block position in position 4,45 °, the inclined to one side sky of X-axis energized south, 45 ° partially of Y-axis energized south;

Position 6: around 180 ° of Z axis forwards, now Z axis points to east to the strap down inertial navigation block position in position 5,45 ° partially of X-axis energized north, 45 °, the inclined to one side sky of Y-axis energized north;

Position 7: make strap down inertial navigation combination X, Y, Z axis gyroscope point to respectively south, east, day direction of test point geographic coordinate system;

Position 8: around 45 ° of Y-axis forwards, now Y-axis is pointed to east to the strap down inertial navigation block position in position 7,45 °, the inclined to one side sky of Z axis energized south, 45 ° partially of X-axis energized south;

Position 9: around 180 ° of Y-axis forwards, now Y-axis is pointed to east to the strap down inertial navigation block position in position 8,45 ° partially of Z axis energized north, 45 °, the inclined to one side sky of X-axis energized north;

Position 10: make strap down inertial navigation combination X, Y, Z axis gyroscope point to respectively test point geographic coordinate system north,, west to;

Position 11: around 45 ° of Z axis forwards, now Z axis points to west, 45 ° partially of X-axis energized north, 45 ° partially of Y-axis energized south to the strap down inertial navigation block position in position 10;

Position 12: around 180 ° of Z axis forwards, now Z axis sensing is western to the strap down inertial navigation block position in position 11,45 °, the inclined to one side sky of X-axis energized south, 45 °, the inclined to one side sky of Y-axis energized north;

Position 13: make strap down inertial navigation combination X, Y, Z axis gyroscope point to respectively test point geographic coordinate system west, north, local to;

Position 14: around 45 ° of X-axis forwards, now X-axis is pointed to west, 45 ° partially of Y-axis energized north, 45 ° partially of Z axis energized south to the strap down inertial navigation block position in position 13;

Position 15: around 180 ° of X-axis forwards, now X-axis sensing is western to the strap down inertial navigation block position in position 14,45 °, the inclined to one side sky of Y-axis energized south, 45 °, the inclined to one side sky of Z axis energized north;

Position 16: make ground, west, the north that strap down inertial navigation combination X, Y, Z axis gyroscope points to respectively test point geographic coordinate system to;

Position 17: around 45 ° of Y-axis forwards, now Y-axis is pointed to west, 45 ° partially of Z axis energized north, 45 ° partially of X-axis energized south to the strap down inertial navigation block position in position 16;

Position 18: around 180 ° of Y-axis forwards, now Y-axis sensing is western to the strap down inertial navigation block position in position 17,45 °, the inclined to one side sky of Z axis energized south, 45 °, the inclined to one side sky of X-axis energized north.

3. a kind of method of demarcating the combination of strap down inertial navigation combination gyroscope according to claim 1, is characterized in that: the offset ω of i position X, Y, Z axis in described step (2) _b-xi, ω _b-yi, ω _b-zicomputing formula be:

$\left[\begin{array}{c}{\mathrm{\&omega;}}_{b-\mathrm{xi}}\\ {\mathrm{\&omega;}}_{b-\mathrm{yi}}\\ {\mathrm{\&omega;}}_{b-\mathrm{zi}}\end{array}\right]=\left[\begin{array}{c}{G}_x\left(i\right)/(\mathrm{\&Delta;t}\&times;K_{\mathrm{gx}})\\ G_y\left(i\right)/(\mathrm{\&Delta;t}\&times;K_{\mathrm{gy}})\\ G_z\left(i\right)/(\mathrm{\&Delta;t}\&times;K_{\mathrm{gz}})\end{array}\right]-\left[\begin{array}{ccc}1& E_{\mathrm{YX}}& E_{\mathrm{ZX}}\\ E_{\mathrm{XY}}& 1& E_{\mathrm{ZY}}\\ E_{\mathrm{XZ}}& E_{\mathrm{YZ}}& 1\end{array}\right]\left[\begin{array}{c}{\mathrm{\&omega;}}_x\left(i\right)\\ {\mathrm{\&omega;}}_y\left(i\right)\\ {\mathrm{\&omega;}}_z\left(i\right)\end{array}\right]$

Wherein, K _gx, K _gy, K _gzfor strap down inertial navigation combination gyroscope combination constant multiplier; E _xY, E _xZ, E _yX, E _yZ, E _zX, E _zYfor the alignment error angle of strap down inertial navigation combination gyroscope combination; ω _x(i), ω _y(i), ω _z(i) while being i position, rotational-angular velocity of the earth is at the component of X, Y, Z axis direction.

4. a kind of method of demarcating the combination of strap down inertial navigation combination gyroscope according to claim 1, is characterized in that: the implementation method of described step (4) is:

The error model that does not comprise zero degree item coefficient on j direction of principal axis is:

ω′ _j=D _1ja _x+D _2ja _y+D _3ja _z+D _4ja _x ²+D _5ja _y ²+D _6ja _z ²+D _7ja _xa _y+D _8ja _ya _z+D _9ja _xa _z

Wherein, ω ' _jfor the output valve of this error model,, its output valve is ω ' when i the position _ji=ω _b-ji-D _0j-O;

The computing formula of every coefficient is as follows:

Once the error coefficient D of X-axis to j axle _1jcomputing formula be:

$D_{1j}=\frac{1}{12}[2({\mathrm{\&omega;}}_{j4}^{\text{'}}-{\mathrm{\&omega;}}_{j16}^{\text{'}})+\sqrt{2}({\mathrm{\&omega;}}_{j5}^{\text{'}}-{\mathrm{\&omega;}}_{j6}^{\text{'}}-{\mathrm{\&omega;}}_{j8}^{\text{'}}+{\mathrm{\&omega;}}_{j9}^{\text{'}}-{\mathrm{\&omega;}}_{j11}^{\text{'}}+{\mathrm{\&omega;}}_{j12}^{\text{'}}-{\mathrm{\&omega;}}_{j17}^{\text{'}}+{\mathrm{\&omega;}}_{j18}^{\text{'}})]$

The Monomial coefficient D of Y-axis to j axle _2jcomputing formula be:

$D_{2j}=\frac{1}{12}[2({\mathrm{\&omega;}}_{j1}^{\text{'}}-{\mathrm{\&omega;}}_{j10}^{\text{'}})+\sqrt{2}({\mathrm{\&omega;}}_{j2}^{\text{'}}-{\mathrm{\&omega;}}_{j3}^{\text{'}}-{\mathrm{\&omega;}}_{j5}^{\text{'}}+{\mathrm{\&omega;}}_{j6}^{\text{'}}-{\mathrm{\&omega;}}_{j11}^{\text{'}}+{\mathrm{\&omega;}}_{j12}^{\text{'}}-{\mathrm{\&omega;}}_{j14}^{\text{'}}+{\mathrm{\&omega;}}_{j15}^{\text{'}})]$

The Monomial coefficient D of Z axis to j axle _3jcomputing formula be:

$D_{3j}=\frac{1}{12}[2({\mathrm{\&omega;}}_{j7}^{\text{'}}-{\mathrm{\&omega;}}_{j13}^{\text{'}})+\sqrt{2}({-\mathrm{\&omega;}}_{j2}^{\text{'}}+{\mathrm{\&omega;}}_{j3}^{\text{'}}-{\mathrm{\&omega;}}_{j8}^{\text{'}}-{\mathrm{\&omega;}}_{j9}^{\text{'}}-{\mathrm{\&omega;}}_{j14}^{\text{'}}+{\mathrm{\&omega;}}_{j15}^{\text{'}}-{\mathrm{\&omega;}}_{j17}^{\text{'}}+{\mathrm{\&omega;}}_{j18}^{\text{'}})]$

The quadratic term coefficient D of X-axis to j axle _4jcomputing formula be:

$\begin{array}{c}{D}_{4j}=\frac{1}{18}[5({\mathrm{\&omega;}}_{j4}^{\text{'}}+{\mathrm{\&omega;}}_{j16}^{\text{'}})+2({\mathrm{\&omega;}}_{j5}^{\text{'}}+{\mathrm{\&omega;}}_{j6}^{\text{'}}+{\mathrm{\&omega;}}_{j8}^{\text{'}}+{\mathrm{\&omega;}}_{j9}^{\text{'}}+{\mathrm{\&omega;}}_{j11}^{\text{'}}+{\mathrm{\&omega;}}_{j12}^{\text{'}}+{\mathrm{\&omega;}}_{j17}^{\text{'}}+{\mathrm{\&omega;}}_{j18}^{\text{'}})\\ -{\mathrm{\&omega;}}_{j1}^{\text{'}}-{\mathrm{\&omega;}}_{j2}^{\text{'}}-{\mathrm{\&omega;}}_{j3}^{\text{'}}-{\mathrm{\&omega;}}_{j7}^{\text{'}}-{\mathrm{\&omega;}}_{j10}^{\text{'}}-{\mathrm{\&omega;}}_{j13}^{\text{'}}-{\mathrm{\&omega;}}_{j14}^{\text{'}}-{\mathrm{\&omega;}}_{j15}^{\text{'}}]\end{array}$

The quadratic term coefficient D of Y-axis to j axle _5jcomputing formula be:

$\begin{array}{c}{D}_{5j}=\frac{1}{18}[5({\mathrm{\&omega;}}_{j1}^{\text{'}}+{\mathrm{\&omega;}}_{j10}^{\text{'}})+2({\mathrm{\&omega;}}_{j2}^{\text{'}}+{\mathrm{\&omega;}}_{j3}^{\text{'}}+{\mathrm{\&omega;}}_{j5}^{\text{'}}+{\mathrm{\&omega;}}_{j6}^{\text{'}}+{\mathrm{\&omega;}}_{j11}^{\text{'}}+{\mathrm{\&omega;}}_{j12}^{\text{'}}+{\mathrm{\&omega;}}_{j14}^{\text{'}}+{\mathrm{\&omega;}}_{j15}^{\text{'}})\\ -{\mathrm{\&omega;}}_{j4}^{\text{'}}-{\mathrm{\&omega;}}_{j7}^{\text{'}}-{\mathrm{\&omega;}}_{j8}^{\text{'}}-{\mathrm{\&omega;}}_{j9}^{\text{'}}-{\mathrm{\&omega;}}_{j13}^{\text{'}}-{\mathrm{\&omega;}}_{j16}^{\text{'}}-{\mathrm{\&omega;}}_{j17}^{\text{'}}-{\mathrm{\&omega;}}_{j18}^{\text{'}}]\end{array}$

The quadratic term coefficient D of Z axis to j axle _6jcomputing formula be:

$\begin{array}{c}{D}_{6j}=\frac{1}{18}[5({\mathrm{\&omega;}}_{j7}^{\text{'}}+{\mathrm{\&omega;}}_{j13}^{\text{'}})+2({\mathrm{\&omega;}}_{j2}^{\text{'}}+{\mathrm{\&omega;}}_{j3}^{\text{'}}+{\mathrm{\&omega;}}_{j8}^{\text{'}}+{\mathrm{\&omega;}}_{j9}^{\text{'}}+{\mathrm{\&omega;}}_{j14}^{\text{'}}+{\mathrm{\&omega;}}_{j15}^{\text{'}}+{\mathrm{\&omega;}}_{j17}^{\text{'}}+{\mathrm{\&omega;}}_{j18}^{\text{'}})\\ -{\mathrm{\&omega;}}_{j1}^{\text{'}}-{\mathrm{\&omega;}}_{j4}^{\text{'}}-{\mathrm{\&omega;}}_{j5}^{\text{'}}-{\mathrm{\&omega;}}_{j6}^{\text{'}}-{\mathrm{\&omega;}}_{j10}^{\text{'}}-{\mathrm{\&omega;}}_{j11}^{\text{'}}-{\mathrm{\&omega;}}_{j12}^{\text{'}}-{\mathrm{\&omega;}}_{j16}^{\text{'}}]\end{array}$

X, the cross-couplings item coefficient D of Y-axis product to j axle _7jcomputing formula be:

$D_{7j}=\frac{1}{2}({-\mathrm{\&omega;}}_{j5}^{\text{'}}-{\mathrm{\&omega;}}_{j6}^{\text{'}}+{\mathrm{\&omega;}}_{j11}^{\text{'}}+{\mathrm{\&omega;}}_{j12}^{\text{'}})$

Y, the cross-couplings item coefficient D of Z-axis direction product to j axle _8jcomputing formula be:

$D_{8j}=\frac{1}{2}({-\mathrm{\&omega;}}_{j2}^{\text{'}}-{\mathrm{\&omega;}}_{j3}^{\text{'}}+{\mathrm{\&omega;}}_{j14}^{\text{'}}+{\mathrm{\&omega;}}_{j15}^{\text{'}})$

X, the cross-couplings item coefficient D of Z-axis direction product to j axle _9jcomputing formula be:

$D_{9j}=\frac{1}{2}({-\mathrm{\&omega;}}_{j8}^{\text{'}}-{\mathrm{\&omega;}}_{j9}^{\text{'}}+{\mathrm{\&omega;}}_{j17}^{\text{'}}+{\mathrm{\&omega;}}_{j18}^{\text{'}}).$

5. a kind of method of demarcating the combination of strap down inertial navigation combination gyroscope according to claim 1, is characterized in that: the implementation method of described step (5) is:

For on j direction of principal axis not containing k error coefficient D in the error model of zero degree item _kj,, wherein k=4,5,6, its conspicuousness numerical value F _0-kfor:

$F_{0-k}=\frac{{D_{\mathrm{kj}}}^2}{l^{k,k}M/(18-9-1)}$

Wherein, l ^k,kfor Φ ^-1the value of the capable k of k row, Φ=A ^ta,

$A=\left[\begin{array}{ccccccccc}{a}_{x1}& a_{y1}& a_{z1}& {a_{x1}}^2& {a_{y1}}^2& {a_{z1}}^2& a_{x1}{a}_{y1}& a_{y1}{a}_{z1}& a_{x1}{a}_{z1}\\ a_{x2}& a_{y2}& a_{z2}& {a_{x2}}^2& {a_{y2}}^2& {a_{z2}}^2& a_{x2}{a}_{y2}& a_{y2}{a}_{z2}& a_{x2}{a}_{z2}\\ .& .& .& .& .& .& .& .& .\\ .& .& .& .& .& .& .& .& .\\ .& .& .& .& .& .& .& .& .\\ a_{x18}& a_{y18}& a_{z18}& {a_{x18}}^2& {a_{y18}}^2& {a_{z18}}^2& a_{x18}{a}_{y18}& a_{y18}{a}_{z18}& a_{x18}{a}_{z18}\end{array}\right];$

M=Y ^ty-Y ^ta Φ ^-1a ^ty, and Y=[ω ' _j1ω ' _j2ω ' _j18] ^t, the output valve ω ' that does not contain the error model of zero degree item on j direction of principal axis when i the position _ji=ω _b-ji-D _0j-O, a _xi, a _yi, a _zithe apparent acceleration component in X, Y, Z axis direction respectively while being i position is given value;

By F _0-kwith numerical value F _0.99(1,9)=10.6 compare, and work as F _0-k>=F _0.99when (1,9), this term system digital display work; Work as F _0-k<F _0.99when (1,9), this coefficient is not remarkable.

6. a kind of method of demarcating the combination of strap down inertial navigation combination gyroscope according to claim 1, is characterized in that: the implementation method of described step (6) is as follows:

The error model that does not comprise zero degree item on j direction of principal axis is:

ω′ _j=D _1ja _x+D _2ja _y+D _3ja _z+D _4ja _x ²+D _5ja _y ²+D _6ja _z ²+D _7ja _xa _y+D _8ja _ya _z+D _9ja _xa _z

Wherein, ω ' _jfor the output valve of this error model,, its output valve is ω ' when i the position _ji=ω _b-ji-D _0j-O;

Its error model conspicuousness numerical value F ₀for:

$F_0=\frac{U_0/9}{P_0/(18-9-1)}$

Wherein, U ₀=Y ^ta Φ ₀ ^-1a ^ty, and, Y=[ω ' _j1ω ' _j2ω ' _j18] ^t, Φ ₀=A ^ta, $A=\left[\begin{array}{ccccccccc}{a}_{x1}& a_{y1}& a_{z1}& {a_{x1}}^2& {a_{y1}}^2& {a_{z1}}^2& a_{x1}{a}_{y1}& a_{y1}{a}_{z1}& a_{x1}{a}_{z1}\\ a_{x2}& a_{y2}& a_{z2}& {a_{x2}}^2& {a_{y2}}^2& {a_{z2}}^2& a_{x2}{a}_{y2}& a_{y2}{a}_{z2}& a_{x2}{a}_{z2}\\ .& .& .& .& .& .& .& .& .\\ .& .& .& .& .& .& .& .& .\\ .& .& .& .& .& .& .& .& .\\ a_{x18}& a_{y18}& a_{z18}& {a_{x18}}^2& {a_{y18}}^2& {a_{z18}}^2& a_{x18}{a}_{y18}& a_{y18}{a}_{z18}& a_{x18}{a}_{z18}\end{array}\right],P_0=Y^{T}Y-U_0,$ A _xi, a _yi, a _zithe apparent acceleration component in X, Y, Z axis direction respectively while being i position is given value;

On j direction of principal axis, not comprising X-axis to the error model of j axle quadratic term coefficient is:

ω′ _j=D _0j+D _1ja _x+D _2ja _y+D _3ja _z+D _5ja _y ²+D _6ja _z ²+D _7ja _xa _y+D _8ja _ya _z+D _9ja _xa _z

Wherein, ω ' _jfor the output valve of this error model,, its output valve is ω ' when i the position _ji=ω _b-ji;

Its error model conspicuousness numerical value F _xfor:

$F_x=\frac{U_x/9}{P_x/(18-9-1)}$

Wherein, U _x=Y ^tb _xΦ _x ^-1b _x ^ty, Y=[ω ' _j1ω ' _j2ω ' _j18] ^t, Φ _x=B _x ^tb _x, $B_x=\left[\begin{array}{ccccccccc}1& a_{x1}& a_{y1}& a_{z1}& {a_{y1}}^2& {a_{z1}}^2& a_{x1}{a}_{y1}& a_{y1}{a}_{z1}& a_{x1}{a}_{z1}\\ 1& a_{x2}& a_{y2}& a_{z2}& {a_{y2}}^2& {a_{z2}}^2& a_{x2}{a}_{y2}& a_{y2}{a}_{z2}& a_{x2}{a}_{z2}\\ .& .& .& .& .& .& .& .& .\\ .& .& .& .& .& .& .& .& .\\ .& .& .& .& .& .& .& .& .\\ 1& a_{x18}& a_{y18}& a_{z18}& {a_{y18}}^2& {a_{z18}}^2& a_{x18}{a}_{y18}& a_{y18}{a}_{z18}& a_{x18}{a}_{z18}\end{array}\right],P_x=Y^{T}Y-U_x,$ A _xi, a _yi, a _zithe apparent acceleration component in X, Y, Z axis direction respectively while being i position is given value;

On j direction of principal axis, not comprising Y-axis to the error model of j axle quadratic term coefficient is:

ω′ _j=D _0j+D _1ja _x+D _2ja _y+D _3ja _z+D _4ja _x ²+D _6ja _z ²+D _7ja _xa _y+D _8ja _ya _z+D _9ja _xa _z

Wherein, ω ' _jfor the output valve of this error model,, its output valve is ω ' when i the position _ji=ω _b-ji;

Its error model conspicuousness numerical value F _yfor:

$F_y=\frac{U_y/9}{P_y/(18-9-1)}$

Wherein, U _y=Y ^tb _yΦ _y ^-1b _y ^ty, and, Y=[ω ' _j1ω ' _j2ω ' _j18] ^t, Φ _y=B _y ^tb _y, $B_y=\left[\begin{array}{ccccccccc}1& a_{x1}& a_{y1}& a_{z1}& {a_{x1}}^2& {a_{z1}}^2& a_{x1}{a}_{y1}& a_{y1}{a}_{z1}& a_{x1}{a}_{z1}\\ 1& a_{x2}& a_{y2}& a_{z2}& {a_{x2}}^2& {a_{z2}}^2& a_{x2}{a}_{y2}& a_{y2}{a}_{z2}& a_{x2}{a}_{z2}\\ .& .& .& .& .& .& .& .& .\\ .& .& .& .& .& .& .& .& .\\ .& .& .& .& .& .& .& .& .\\ 1& a_{x18}& a_{y18}& a_{z18}& {a_{x18}}^2& {a_{z18}}^2& a_{x18}{a}_{y18}& a_{y18}{a}_{z18}& a_{x18}{a}_{z18}\end{array}\right],P_y=Y^{T}Y-U_y,$ A _xi, a _yi, a _zithe apparent acceleration component in X, Y, Z axis direction respectively while being i position is given value;

On j direction of principal axis, not comprising Z axis to the error model of j axle quadratic term coefficient is:

ω′ _j=D _0j+D _1ja _x+D _2ja _y+D _3ja _z+D _4ja _x ²+D _5ja _y ²+D _7ja _xa _y+D _8ja _ya _z+D _9ja _xa _z

Wherein, ω ' _jfor the output valve of this error model,, its output valve is ω ' when i the position _ji=ω _b-ji;

Its error model conspicuousness numerical value F _zfor:

$F_z=\frac{U_z/9}{P_z/(18-9-1)}$

Wherein, U _z=Y ^tb _zΦ _z ^-1b _z ^ty, and, Y=[ω ' _j1ω ' _j2ω ' _j18] ^t, Φ _z=B _z ^tb _z $B_z=\left[\begin{array}{ccccccccc}1& a_{x1}& a_{y1}& a_{z1}& {a_{x1}}^2& {a_{y1}}^2& a_{x1}{a}_{y1}& a_{y1}{a}_{z1}& a_{x1}{a}_{z1}\\ 1& a_{x2}& a_{y2}& a_{z2}& {a_{x2}}^2& {a_{y2}}^2& a_{x2}{a}_{y2}& a_{y2}{a}_{z2}& a_{x2}{a}_{z2}\\ .& .& .& .& .& .& .& .& .\\ .& .& .& .& .& .& .& .& .\\ .& .& .& .& .& .& .& .& .\\ 1& a_{x18}& a_{y18}& a_{z18}& {a_{x18}}^2& {a_{y18}}^2& a_{x18}{a}_{y18}& a_{y18}{a}_{z18}& a_{x18}{a}_{z18}\end{array}\right],P_z=Y^{T}Y-U_z,$ A _xi, a _yi, a _zithe apparent acceleration component in X, Y, Z axis direction respectively while being i position is given value.

7. a kind of method of demarcating the combination of strap down inertial navigation combination gyroscope according to claim 1, is characterized in that: the actual error model of working as on j direction of principal axis in described step (7) and (8) is not comprise the error model ω ' of X-axis to j axle quadratic term coefficient _j=D _0j+ D _1ja _x+ D _2ja _y+ D _3ja _z+ D _5ja _y ²+ D _6ja _z ²+ D _7ja _xa _y+ D _8ja _ya _z+ D _9ja _xa _ztime, wherein ω ' _jfor the output valve of this error model,, its output valve is ω ' when i the position _ji=ω _b-ji;

Its zero degree item coefficient D _0jcomputing formula be:

$\begin{array}{c}{D}_{0j}=\frac{1}{18}[5({\mathrm{\&omega;}}_{j4}^{\text{'}}+{\mathrm{\&omega;}}_{j16}^{\text{'}})+2({\mathrm{\&omega;}}_{j5}^{\text{'}}+{\mathrm{\&omega;}}_{j6}^{\text{'}}+{\mathrm{\&omega;}}_{j8}^{\text{'}}+{\mathrm{\&omega;}}_{j9}^{\text{'}}+{\mathrm{\&omega;}}_{j11}^{\text{'}}+{\mathrm{\&omega;}}_{j12}^{\text{'}}+{\mathrm{\&omega;}}_{j17}^{\text{'}}+{\mathrm{\&omega;}}_{j18}^{\text{'}})\\ -{\mathrm{\&omega;}}_{j1}^{\text{'}}-{\mathrm{\&omega;}}_{j2}^{\text{'}}-{\mathrm{\&omega;}}_{j3}^{\text{'}}-{\mathrm{\&omega;}}_{j7}^{\text{'}}-{\mathrm{\&omega;}}_{j10}^{\text{'}}-{\mathrm{\&omega;}}_{j13}^{\text{'}}-{\mathrm{\&omega;}}_{j14}^{\text{'}}-{\mathrm{\&omega;}}_{j15}^{\text{'}}]\end{array}$

The Monomial coefficient D of X-axis to j axle _1jcomputing formula be:

$D_{1j}=\frac{1}{12}[2({\mathrm{\&omega;}}_{j4}^{\text{'}}-{\mathrm{\&omega;}}_{j16}^{\text{'}})+\sqrt{2}({\mathrm{\&omega;}}_{j5}^{\text{'}}-{\mathrm{\&omega;}}_{j6}^{\text{'}}-{\mathrm{\&omega;}}_{j8}^{\text{'}}+{\mathrm{\&omega;}}_{j9}^{\text{'}}-{\mathrm{\&omega;}}_{j11}^{\text{'}}+{\mathrm{\&omega;}}_{j12}^{\text{'}}-{\mathrm{\&omega;}}_{j17}^{\text{'}}+{\mathrm{\&omega;}}_{j18}^{\text{'}})]$

The Monomial coefficient D of Y-axis to j axle _2jcomputing formula be:

$D_{2j}=\frac{1}{12}[2({\mathrm{\&omega;}}_{j1}^{\text{'}}-{\mathrm{\&omega;}}_{j10}^{\text{'}})+\sqrt{2}({\mathrm{\&omega;}}_{j2}^{\text{'}}-{\mathrm{\&omega;}}_{j3}^{\text{'}}-{\mathrm{\&omega;}}_{j5}^{\text{'}}+{\mathrm{\&omega;}}_{j6}^{\text{'}}-{\mathrm{\&omega;}}_{j11}^{\text{'}}+{\mathrm{\&omega;}}_{j12}^{\text{'}}-{\mathrm{\&omega;}}_{j14}^{\text{'}}+{\mathrm{\&omega;}}_{j15}^{\text{'}})]$

The Monomial coefficient D of Z axis to j axle _3jcomputing formula be:

$D_{3j}=\frac{1}{12}[2({\mathrm{\&omega;}}_{j7}^{\text{'}}-{\mathrm{\&omega;}}_{j13}^{\text{'}})+\sqrt{2}({-\mathrm{\&omega;}}_{j2}^{\text{'}}+{\mathrm{\&omega;}}_{j3}^{\text{'}}+{\mathrm{\&omega;}}_{j8}^{\text{'}}-{\mathrm{\&omega;}}_{j9}^{\text{'}}-{\mathrm{\&omega;}}_{j14}^{\text{'}}+{\mathrm{\&omega;}}_{j15}^{\text{'}}-{\mathrm{\&omega;}}_{j17}^{\text{'}}+{\mathrm{\&omega;}}_{j18}^{\text{'}})]$

The quadratic term coefficient D of Y-axis to j axle _5jcomputing formula be:

$D_{5j}=\frac{1}{6}\left[2({\mathrm{\&omega;}}_{j1}^{\text{'}}-{\mathrm{\&omega;}}_{j14}^{\text{'}}+{\mathrm{\&omega;}}_{j10}^{\text{'}}-{\mathrm{\&omega;}}_{j16}^{\text{'}}){+\mathrm{\&omega;}}_{j2}^{\text{'}}+{\mathrm{\&omega;}}_{j3}^{\text{'}}-{\mathrm{\&omega;}}_{j8}^{\text{'}}-{\mathrm{\&omega;}}_{j9}^{\text{'}}-{\mathrm{\&omega;}}_{j14}^{\text{'}}+{\mathrm{\&omega;}}_{j15}^{\text{'}}-{\mathrm{\&omega;}}_{j17}^{\text{'}}+{\mathrm{\&omega;}}_{j18}^{\text{'}}\right]$

The quadratic term coefficient D of Z axis to j axle _6jcomputing formula be:

$D_{6j}=\frac{1}{6}\left[2({-\mathrm{\&omega;}}_{j4}^{\text{'}}+{\mathrm{\&omega;}}_{j7}^{\text{'}}+{\mathrm{\&omega;}}_{j13}^{\text{'}}-{\mathrm{\&omega;}}_{j16}^{\text{'}}){+\mathrm{\&omega;}}_{j2}^{\text{'}}+{\mathrm{\&omega;}}_{j3}^{\text{'}}-{\mathrm{\&omega;}}_{j5}^{\text{'}}-{\mathrm{\&omega;}}_{j6}^{\text{'}}-{\mathrm{\&omega;}}_{j11}^{\text{'}}-{\mathrm{\&omega;}}_{j12}^{\text{'}}+{\mathrm{\&omega;}}_{j14}^{\text{'}}+{\mathrm{\&omega;}}_{j15}^{\text{'}}\right]$

X, the cross-couplings item coefficient D of Y-axis product to j axle _7jcomputing formula be:

$D_{7j}=\frac{1}{2}({-\mathrm{\&omega;}}_{j5}^{\text{'}}-{\mathrm{\&omega;}}_{j6}^{\text{'}}+{\mathrm{\&omega;}}_{j11}^{\text{'}}+{\mathrm{\&omega;}}_{j12}^{\text{'}})$

Y, the cross-couplings item coefficient D of Z-axis direction product to j axle _8jcomputing formula be:

$D_{8j}=\frac{1}{2}({-\mathrm{\&omega;}}_{j2}^{\text{'}}-{\mathrm{\&omega;}}_{j3}^{\text{'}}+{\mathrm{\&omega;}}_{j14}^{\text{'}}+{\mathrm{\&omega;}}_{j15}^{\text{'}})$

X, the cross-couplings item coefficient D of Z-axis direction product to j axle _9jcomputing formula be:

$D_{9j}=\frac{1}{2}({-\mathrm{\&omega;}}_{j8}^{\text{'}}-{\mathrm{\&omega;}}_{j9}^{\text{'}}+{\mathrm{\&omega;}}_{j17}^{\text{'}}+{\mathrm{\&omega;}}_{j18}^{\text{'}}).$

8. a kind of method of demarcating the combination of strap down inertial navigation combination gyroscope according to claim 1, is characterized in that: the actual error model of working as on j direction of principal axis in described step (7) and (8) is not comprise the error model ω ' of Y-axis to j axle quadratic term coefficient _j=D _0j+ D _1ja _x+ D _2ja _y+ D _3ja _z+ D _4ja _x ²+ D _6ja _z ²+ D _7ja _xa _y+ D _8ja _ya _z+ D _9ja _xa _ztime, wherein ω ' _jfor the output valve of this error model,, its output valve is ω ' when i the position _ji=ω _b-ji;

Zero degree item coefficient D _0jcomputing formula be:

$\begin{array}{c}{D}_{0j}=\frac{1}{18}[5({\mathrm{\&omega;}}_{j1}^{\text{'}}+{\mathrm{\&omega;}}_{j10}^{\text{'}})+2({\mathrm{\&omega;}}_{j2}^{\text{'}}+{\mathrm{\&omega;}}_{j3}^{\text{'}}+{\mathrm{\&omega;}}_{j5}^{\text{'}}+{\mathrm{\&omega;}}_{j6}^{\text{'}}+{\mathrm{\&omega;}}_{j11}^{\text{'}}+{\mathrm{\&omega;}}_{j12}^{\text{'}}+{\mathrm{\&omega;}}_{j14}^{\text{'}}+{\mathrm{\&omega;}}_{j15}^{\text{'}})\\ -{\mathrm{\&omega;}}_{j4}^{\text{'}}-{\mathrm{\&omega;}}_{j7}^{\text{'}}-{\mathrm{\&omega;}}_{j8}^{\text{'}}-{\mathrm{\&omega;}}_{j9}^{\text{'}}-{\mathrm{\&omega;}}_{j13}^{\text{'}}-{\mathrm{\&omega;}}_{j16}^{\text{'}}-{\mathrm{\&omega;}}_{j17}^{\text{'}}-{\mathrm{\&omega;}}_{j18}^{\text{'}}]\end{array}$

The Monomial coefficient D of X-axis to j axle _1jcomputing formula be:

$D_{1j}=\frac{1}{12}[2({\mathrm{\&omega;}}_{j4}^{\text{'}}-{\mathrm{\&omega;}}_{j16}^{\text{'}})+\sqrt{2}({\mathrm{\&omega;}}_{j5}^{\text{'}}-{\mathrm{\&omega;}}_{j6}^{\text{'}}-{\mathrm{\&omega;}}_{j8}^{\text{'}}+{\mathrm{\&omega;}}_{j9}^{\text{'}}-{\mathrm{\&omega;}}_{j11}^{\text{'}}+{\mathrm{\&omega;}}_{j12}^{\text{'}}-{\mathrm{\&omega;}}_{j17}^{\text{'}}+{\mathrm{\&omega;}}_{j18}^{\text{'}})]$

The Monomial coefficient D of Y-axis to j axle _2jcomputing formula be:

$D_{2j}=\frac{1}{12}[2({\mathrm{\&omega;}}_{j1}^{\text{'}}-{\mathrm{\&omega;}}_{j10}^{\text{'}})+\sqrt{2}({\mathrm{\&omega;}}_{j2}^{\text{'}}-{\mathrm{\&omega;}}_{j3}^{\text{'}}-{\mathrm{\&omega;}}_{j5}^{\text{'}}+{\mathrm{\&omega;}}_{j6}^{\text{'}}-{\mathrm{\&omega;}}_{j11}^{\text{'}}+{\mathrm{\&omega;}}_{j12}^{\text{'}}-{\mathrm{\&omega;}}_{j14}^{\text{'}}+{\mathrm{\&omega;}}_{j15}^{\text{'}})]$

The Monomial coefficient D of Z axis to j axle _3jcomputing formula be:

$D_{3j}=\frac{1}{12}[2({\mathrm{\&omega;}}_{j7}^{\text{'}}-{\mathrm{\&omega;}}_{j13}^{\text{'}})+\sqrt{2}({-\mathrm{\&omega;}}_{j2}^{\text{'}}+{\mathrm{\&omega;}}_{j3}^{\text{'}}-{\mathrm{\&omega;}}_{j8}^{\text{'}}-{\mathrm{\&omega;}}_{j9}^{\text{'}}-{\mathrm{\&omega;}}_{j14}^{\text{'}}+{\mathrm{\&omega;}}_{j15}^{\text{'}}-{\mathrm{\&omega;}}_{j17}^{\text{'}}+{\mathrm{\&omega;}}_{j18}^{\text{'}})]$

The quadratic term coefficient D of X-axis to j axle _4jcomputing formula be:

$\begin{array}{c}{D}_{4j}=\frac{1}{6}[2({-\mathrm{\&omega;}}_{j1}^{\text{'}}+{\mathrm{\&omega;}}_{j4}^{\text{'}}{-\mathrm{\&omega;}}_{j10}^{\text{'}}+{\mathrm{\&omega;}}_{j16}^{\text{'}})-{\mathrm{\&omega;}}_{j2}^{\text{'}}-{\mathrm{\&omega;}}_{j3}^{\text{'}}+{\mathrm{\&omega;}}_{j8}^{\text{'}}+{\mathrm{\&omega;}}_{j9}^{\text{'}}-{\mathrm{\&omega;}}_{j14}^{\text{'}}-{\mathrm{\&omega;}}_{j15}^{\text{'}}+{\mathrm{\&omega;}}_{j17}^{\text{'}}+{\mathrm{\&omega;}}_{j18}^{\text{'}}]\end{array}$

The quadratic term coefficient D of Z axis to j axle _6jcomputing formula be:

$\begin{array}{c}{D}_{6j}=\frac{1}{6}[2({-\mathrm{\&omega;}}_{j1}^{\text{'}}+{\mathrm{\&omega;}}_{j7}^{\text{'}}{-\mathrm{\&omega;}}_{j10}^{\text{'}}+{\mathrm{\&omega;}}_{j13}^{\text{'}})-{\mathrm{\&omega;}}_{j5}^{\text{'}}-{\mathrm{\&omega;}}_{j6}^{\text{'}}+{\mathrm{\&omega;}}_{j8}^{\text{'}}+{\mathrm{\&omega;}}_{j9}^{\text{'}}-{\mathrm{\&omega;}}_{j11}^{\text{'}}-{\mathrm{\&omega;}}_{j12}^{\text{'}}+{\mathrm{\&omega;}}_{j17}^{\text{'}}+{\mathrm{\&omega;}}_{j18}^{\text{'}}]\end{array}$

X, the cross-couplings item coefficient D of Y-axis product to j axle _7jcomputing formula be:

$D_{7j}=\frac{1}{2}({-\mathrm{\&omega;}}_{j5}^{\text{'}}-{\mathrm{\&omega;}}_{j6}^{\text{'}}+{\mathrm{\&omega;}}_{j11}^{\text{'}}+{\mathrm{\&omega;}}_{j12}^{\text{'}})$

Y, the cross-couplings item coefficient D of Z-axis direction product to j axle _8jcomputing formula be:

$D_{8j}=\frac{1}{2}({-\mathrm{\&omega;}}_{j2}^{\text{'}}-{\mathrm{\&omega;}}_{j3}^{\text{'}}+{\mathrm{\&omega;}}_{j14}^{\text{'}}+{\mathrm{\&omega;}}_{j15}^{\text{'}})$

X, the cross-couplings item coefficient D of Z-axis direction product to j axle _9jcomputing formula be:

$D_{9j}=\frac{1}{2}({-\mathrm{\&omega;}}_{j8}^{\text{'}}-{\mathrm{\&omega;}}_{j9}^{\text{'}}+{\mathrm{\&omega;}}_{j17}^{\text{'}}+{\mathrm{\&omega;}}_{j18}^{\text{'}}).$

9. a kind of method of demarcating the combination of strap down inertial navigation combination gyroscope according to claim 1, is characterized in that: the actual error model of working as on j direction of principal axis in described step (7) and (8) is not comprise the error model ω ' of Z axis to j axle quadratic term coefficient _j=D _0j+ D _1ja _x+ D _2ja _y+ D _3ja _z+ D _4ja _x ²+ D _5ja _y ²+ D _7ja _xa _y+ D _8ja _ya _z+ D _9ja _xa _ztime, wherein ω ' _jfor the output valve of this error model,, its output valve is ω ' when i the position _ji=ω _b-ji;

Zero degree item coefficient D _0jcomputing formula be:

$\begin{array}{c}{D}_{0j}=\frac{1}{18}[5({\mathrm{\&omega;}}_{j7}^{\text{'}}+{\mathrm{\&omega;}}_{j13}^{\text{'}})+2({\mathrm{\&omega;}}_{j2}^{\text{'}}+{\mathrm{\&omega;}}_{j3}^{\text{'}}+{\mathrm{\&omega;}}_{j8}^{\text{'}}+{\mathrm{\&omega;}}_{j9}^{\text{'}}+{\mathrm{\&omega;}}_{j14}^{\text{'}}+{\mathrm{\&omega;}}_{j15}^{\text{'}}+{\mathrm{\&omega;}}_{j17}^{\text{'}}+{\mathrm{\&omega;}}_{j18}^{\text{'}})\\ -{\mathrm{\&omega;}}_{j1}^{\text{'}}-{\mathrm{\&omega;}}_{j4}^{\text{'}}-{\mathrm{\&omega;}}_{j5}^{\text{'}}-{\mathrm{\&omega;}}_{j6}^{\text{'}}-{\mathrm{\&omega;}}_{j10}^{\text{'}}-{\mathrm{\&omega;}}_{j11}^{\text{'}}-{\mathrm{\&omega;}}_{j12}^{\text{'}}-{\mathrm{\&omega;}}_{j16}^{\text{'}}]\end{array}$

The Monomial coefficient D of X-axis to j axle _1jcomputing formula be:

$D_{1j}=\frac{1}{12}[2({\mathrm{\&omega;}}_{j4}^{\text{'}}-{\mathrm{\&omega;}}_{j16}^{\text{'}})+\sqrt{2}({\mathrm{\&omega;}}_{j5}^{\text{'}}-{\mathrm{\&omega;}}_{j6}^{\text{'}}-{\mathrm{\&omega;}}_{j8}^{\text{'}}+{\mathrm{\&omega;}}_{j9}^{\text{'}}-{\mathrm{\&omega;}}_{j11}^{\text{'}}+{\mathrm{\&omega;}}_{j12}^{\text{'}}-{\mathrm{\&omega;}}_{j17}^{\text{'}}+{\mathrm{\&omega;}}_{j18}^{\text{'}})]$

The Monomial coefficient D of Y-axis to j axle _2jcomputing formula be:

$D_{2j}=\frac{1}{12}[2({\mathrm{\&omega;}}_{j1}^{\text{'}}-{\mathrm{\&omega;}}_{j10}^{\text{'}})+\sqrt{2}({\mathrm{\&omega;}}_{j2}^{\text{'}}-{\mathrm{\&omega;}}_{j3}^{\text{'}}-{\mathrm{\&omega;}}_{j5}^{\text{'}}+{\mathrm{\&omega;}}_{j6}^{\text{'}}-{\mathrm{\&omega;}}_{j11}^{\text{'}}+{\mathrm{\&omega;}}_{j12}^{\text{'}}-{\mathrm{\&omega;}}_{j14}^{\text{'}}+{\mathrm{\&omega;}}_{j15}^{\text{'}})]$

The Monomial coefficient D of Z axis to j axle _3jcomputing formula be:

$D_{3j}=\frac{1}{12}[2({\mathrm{\&omega;}}_{j7}^{\text{'}}-{\mathrm{\&omega;}}_{j13}^{\text{'}})+\sqrt{2}({-\mathrm{\&omega;}}_{j2}^{\text{'}}+{\mathrm{\&omega;}}_{j3}^{\text{'}}+{\mathrm{\&omega;}}_{j8}^{\text{'}}-{\mathrm{\&omega;}}_{j9}^{\text{'}}-{\mathrm{\&omega;}}_{j14}^{\text{'}}+{\mathrm{\&omega;}}_{j15}^{\text{'}}-{\mathrm{\&omega;}}_{j17}^{\text{'}}+{\mathrm{\&omega;}}_{j18}^{\text{'}})]$

The quadratic term coefficient D of X-axis to j axle _4jcomputing formula be:

$\begin{array}{c}{D}_{4j}=\frac{1}{6}[2({\mathrm{\&omega;}}_{j4}^{\text{'}}-{\mathrm{\&omega;}}_{j7}^{\text{'}}{-\mathrm{\&omega;}}_{j13}^{\text{'}}+{\mathrm{\&omega;}}_{j16}^{\text{'}})-{\mathrm{\&omega;}}_{j2}^{\text{'}}-{\mathrm{\&omega;}}_{j3}^{\text{'}}+{\mathrm{\&omega;}}_{j5}^{\text{'}}+{\mathrm{\&omega;}}_{j6}^{\text{'}}+{\mathrm{\&omega;}}_{j11}^{\text{'}}+{\mathrm{\&omega;}}_{j12}^{\text{'}}-{\mathrm{\&omega;}}_{j17}^{\text{'}}-{\mathrm{\&omega;}}_{j18}^{\text{'}}]\end{array}$

The quadratic term coefficient D of Y-axis to j axle _5jcomputing formula be:

$\begin{array}{c}{D}_{5j}=\frac{1}{6}[2({\mathrm{\&omega;}}_{j1}^{\text{'}}-{\mathrm{\&omega;}}_{j7}^{\text{'}}{+\mathrm{\&omega;}}_{j10}^{\text{'}}-{\mathrm{\&omega;}}_{j13}^{\text{'}})+{\mathrm{\&omega;}}_{j5}^{\text{'}}+{\mathrm{\&omega;}}_{j6}^{\text{'}}-{\mathrm{\&omega;}}_{j8}^{\text{'}}-{\mathrm{\&omega;}}_{j9}^{\text{'}}+{\mathrm{\&omega;}}_{j11}^{\text{'}}+{\mathrm{\&omega;}}_{j12}^{\text{'}}-{\mathrm{\&omega;}}_{j17}^{\text{'}}-{\mathrm{\&omega;}}_{j18}^{\text{'}}]\end{array}$

X, the cross-couplings item coefficient D of Y-axis product to j axle _7jcomputing formula be:

$D_{7j}=\frac{1}{2}({-\mathrm{\&omega;}}_{j5}^{\text{'}}-{\mathrm{\&omega;}}_{j6}^{\text{'}}+{\mathrm{\&omega;}}_{j11}^{\text{'}}+{\mathrm{\&omega;}}_{j12}^{\text{'}})$

Y, the cross-couplings item coefficient D of Z-axis direction product to j axle _8jcomputing formula be:

$D_{8j}=\frac{1}{2}({-\mathrm{\&omega;}}_{j2}^{\text{'}}-{\mathrm{\&omega;}}_{j3}^{\text{'}}+{\mathrm{\&omega;}}_{j14}^{\text{'}}+{\mathrm{\&omega;}}_{j15}^{\text{'}})$

X, the cross-couplings item coefficient D of Z-axis direction product to j axle _9jcomputing formula be:

$D_{9j}=\frac{1}{2}({-\mathrm{\&omega;}}_{j8}^{\text{'}}-{\mathrm{\&omega;}}_{j9}^{\text{'}}+{\mathrm{\&omega;}}_{j17}^{\text{'}}+{\mathrm{\&omega;}}_{j18}^{\text{'}}).$

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