| A strapdown inertial navigation system (SINS) is a system which navigates by having the sensors attached rigidly to the body of the vehicle. It provides navigation data for the vehicle. As an inertial navigation unit, it is mobile, secret, free of electromagnetism interference and topographic condition,it has been widely used both in military field and in civil field.This thesis is based on a terrestrial SINS project which would provide a strapdown system for military use. According to reality requirement, a flexible gyroscope is used in this system as a key meter unit. Based on enough analysis of its characteristic, a digital rebalance loop is designed, so the flexible gyroscope can be reliably applied in this SINS.The rebalance loop has greatly improved the applicability of flexible gyroscope. Regarding the situation of high-maneuver of this terrestrial armored car, quaternion is used to describe the movement of the vehicle and fourth order Runge-Kutta algorithm is used to solve the equation. These methods have improved system accuracy clearly.By analyzing experiment results, two-position north seeking algorithm is applied to improve the seeking precision.PC104 is applied as the navigation computer in this SINS. The speed of PC104 is quick enough for strapdown attitude algorithms. Embedded controller is used, which is composed of DSP and FPGA, as the control unit for the system. CAN bus is also used in this system for communication with the armored car controller.After the design and debug of the equipment, outdoors experiment has been done.The results have proved that this SINS is accurate enough for terrestrial armored car.
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