Research And Realization Of SINS Algorithm

Strapdown Inertial Navigation System (SINS) is the most important subsystem in the integrated navigation system. SINS algorithm is the key part of SINS. Under a national great foundation safe project, this dissertation mainly studies attitude integral algorithm and velocity integral algorithm of SINS algorithm for Underwater Vehicle, also relizes the whole SINS software.The tasks are as follows:1. Study on attitude-updating algorithm based on quaternion and rotation vector. Key research is on the basis of coning compensation in the couse of updating the rotation vector. Optimal N-sample rotation vector algorithm and recurrent algorithm are proposed. Have been published the compensation performance of different algorithms and make emulation to analyse.2. Study on velocity-updating algorithm, especially on specific force transferring algorithm. Rotation compensation and sculling compensation are analyzed. Studying the problem of coefficient choosing in detail and making various kinds of algorithm emulation under the environment of sculling. Putting forward the compensation algorithm with practical project. J3. SINS algorithm is realized under the enviroment of embedded RTOS --Vx Works. Carrying on task dividing, determining task priority and choosing a reasonable task communication mechanism. Utilizing advanced OO softwaremodeling tool-Rational Rose based on UML language, SINS software system is created iteratively by means of Bidirectional Engineering--Foreword & Reverse Engineering.