Research On Measurement And Control Technique Of Semi-analytical Inertial Navigation System For Marine Vessels

It is well known that the errors of inertial navigation systems increase with time gradually. The increasing rates of errors are closely related to the accuracy of inertial components. In order to increase the precision of inertial navigation systems, the accuracy of inertial components must be increased as well as accuracy of inertial components should be exerted to the greatest degree. Some technologies are well researched in this dissertation, for instance, the technologies of improving the operating environment for inertial components and taking some measures to increase the system precision based on the inertial components with current accuracy.The accuracy of floated inertial component (such as gyroscope) is greatly affected by the accuracy of temperature control. The temperature control of inertial components with inner mode control (IMC) is proposed in the dissertation. The scheme of IMC temperature control based on AVR single-chip microprocessor is developed. All results of simulations and experiments have shown that the temperature control with IMC for inertial components has advanced features, such as stronger anti-disturbance ability and higher precision of temperature control.A signal differential algorithm for resolvers to obtain the angular velocity from angular signal is presented in the dissertation so that a new scheme of stabilizing systems with double feedback loop in inertial platforms is proposed. The stabilizing system scheme with double feedback loop includes a position feedback loop and a velocity feedback loop. The presented signal differential algorithm solves the difficulty that forced the stabilizing systems in inertial platforms merely by using single position feedback loop at home for a long period. The simulations have shown that the stabilizing systems with double feedback loop in inertial platforms can get higher precision not only in static state, but also in dynamic case than those of stabilizing systems with single position loop under the same amplification coefficient of open-loop systems.A stabilizing system of 2-degree of freedom (DOF) gyroscope has been designed with an active disturbance rejection controller (ADRC) in the dissertation. At first, the practical control scheme of stabilizing systems with ADRC is designed. Secondly, the parameters of ADRC are settled. The simulations have shown that stabilizing system with ADRC has the capability of estimating disturbance quickly and compensating the disturbance on time. The non-linear function in ADRC makes stabilizing system of inertial platforms have excellent characters in zero steady status error, faster response, higher precision, higher anti-disturbance and stronger robustness. The stabilizing system with ADRC in inertial platforms can get higher static and dynamic tracking accuracy...