与平台式惯导系统相比，捷联式惯导系统具有体积小，成本低，启动时间快及可靠性高等优点。但其表现受到载体角运动的影响。结合捷联式惯导系统和平台式惯导系统的优点，该文研究了一种复合式惯导系统。首先，详细描述了该系统的原理;其次，推导出该系统的误差方程。从理论上分析了该系统的性能不会受到载体角运动的影响。仿真实验结果验证了该方法的有效性。

Compared with the platformbased inertial navigation system,the strapdown inertial navigation system has the advantages of small size,low cost,fast startup time and high reliability.But,its performance will be influenced by the angular motion of the carrier. Combining the advantages of the strapdown inertial navigation system and platformbased inertial navigation system,a compound inertial navigation system is investigated in this paper.Firstly,the principle of the proposed system is described in detail. Secondly,the error equations of the proposed system are derived.It is analyzed theoretically that the performance of the proposed system won′t be influenced by the angular motion of the carrier.The effectiveness of the method is verified by the simulation experiment.

U666.1

国家重大科学仪器开发专项基金资助项目（2011YQ12004502）；国家自然科学基金资助项目（41404002,41574069）