Research Of Vehicle Movement Adaptability For Marine Inertial Navigation System

The advantage of marine inertial navigation system is strongly independent, and it can offer high-precision of navigation and position for a long time. In order to reduce the error source affect the rate, position and attitude, inertial navigation system (INS) establish the work mode such as: Initial alignment, Gyro drift measurement, Intergrated correction. These work modes destroy the Schuler adjustment condition. It can bring dynamic error, which influented the precision of alignment and gyro drift measurement, To research the motion adaptability of the INS is also useful to analyse or improve the system schema, and to improve the SINS adaptability of environmental adaptation.Base on the platform intertial navigation, the paper introduced the theory and error analysis. It is brought in some operating modes which can ensure the SINS work regularly. The operating modes contain the gyro drift measurement, the initial alignment and the integrated correction. Through the analysis of the Schuler adjustment condition, the paper pose a question about the motion adaptability of the SINS.Base on the analysis the level alignment precision and the position alignment precision, the paper analysed the anti-interference performance of the existing alignment network, designed a software which can design the parameter of the alignment precision optimized by Visual C++. Comparing the computer emulation results the initial alignment network which is designed by the software is useful.The paper analysed and simulated the theory of the two-position gyro drift measurement and the error characteristics when the systems are interferenced by the movement. Through the improvement on the damping network of the gyro testing loop, the precision of the gyro drift measurement is improved when the systems is intergered.The paper analysed the theory of the two-point alignment, three-point alignment and point and pointed out the key error source which influenced the precision of the alignment. And the paper also analysed the program of the integrated correction, when the system has the external reference error or the system is under the vehicle motion, and got a lot of quantitative analysis results.