Analytical results show that disturbance specific force resulted from lever arm effects may become one of the major error sources while an aircraft undertakes the maneuvers, and navigation errors caused by the lever arm effects accumulate rapidly with time. 分析表明,当飞机作机动飞行时,杆臂效应引起的干扰比力是主要的误差源之一,并且由干扰比力产生的导航误差随时间快速积累。
Lever arm error is corrected through calculating the length of lever arm, which is equivalent to move the SAHMS to the swinging center, then Kalman filter method can be applied for self-alignment using the information that the velocity of swinging center approximate to zero. 该方案通过反求杆臂长度的办法实现杆臂效应补偿,等效地将系统移至摇摆中心,利用摇摆中心速度接近为零的信息,采用卡尔曼滤波实现系统自对准。
Analyzed the cause of ever arm effect errors, established the model of lever arm effect errors. 分析了杆臂效应误差产生的机理,建立了杆臂效应误差模型。