The paper addresses the problem of initial alignment and periodical estimation of gyro drifts and accelerometer errors in a strapdown inertial navigation system (SINS) on fiber-optic gyros (FOG) of navigation grade onboard a marine vehicle, using satellite phase measurements from multi-antenna equipment. The problem is solved through constructing a tightly-coupled INS/GNSS system which comprises an inertial measuring unit (IMU) of SINS, and a multi-antenna satellite module. The satellite module has two antenna baselines and employs receivers with a common reference oscillator. Based on the SINS data, the ambiguity of phase measurements is excluded, and false measurements are sorted out. The results of joint processing of the bench test data for the navigation grade FOG-based IMU (designed by Concern CSRI Elektropribor, JSC) and a virtual simulated satellite module are presented. The data processing was carried out using the algorithms of integrated system construction in MATLAB (Simulink) package.

中文翻译：

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SINS测量单元的初始对准和使用卫星相位测量的误差估计

本文利用多天线的卫星相位测量技术，解决了海上航行级光纤陀螺仪（FOG）上的捷联惯性导航系统（SINS）中陀螺仪漂移和加速度计误差的初始对准和周期性估计问题。设备。通过构建一个紧密耦合的INS / GNSS系统来解决该问题，该系统包括SINS的惯性测量单元（IMU）和多天线卫星模块。卫星模块具有两个天线基线，并使用带有公共参考振荡器的接收器。根据SINS数据，排除了相位测量的不确定性，并筛选出错误的测量结果。联合处理基于导航级FOG的IMU的基准测试数据的结果（由Concern CSRI Elektropribor设计，JSC）和一个虚拟的仿真卫星模块。数据处理是使用MATLAB（Simulink）软件包中的集成系统构建算法进行的。