Research On Inertial Navigation System Based On HRG

Strap-down Inertial Navigation System (SINS) can provide location and attitude. It has inertial sensors combined on the body, including gyros and accelerometers. And an on-board computer realizes the navigation algorithm. The mainstream of recent navigation sensor research is that about gyros without rotor. While in comparison with ring laser gyro or fiber optical gyro, hemispherical resonator gyro (HRG) is competitive due to the optimum cost vs degree of required accuracy, reliability and longevity. In this dissertation, SINS based on HRG is researched.Firstly, the work principle and kinetic model of HRG are investigated. The vibrational and precessional phenomenon of the hemispherical shell is investigated, from the point of shell theory and particle force theory. The approximate solution of kinetic model is derived, from which the influence of shell's physical parameters on its natural frequency and precession rate is analyzed. Finite-element analysis of HRG is also realized depending on ANSYS. The influence of shell's physical parameters on each natural frequency and sequence is researched.Secondly, this dissertation gives method of testing the mathematic model of inertial sensors. Available test devices include: double-axis turntable, gratings dividing head, and NI data acquisition card. Use LabView to build the human-machine interface, and test the three HRGs and three accelerometers respectively. The mathematic model of inertial sensors is used for error compensation of SINS. Finally, the model machine of SINS is developed. This dissertation accomplishes mechanic structure design according to the structure of inertial sensors. Hardware includes A/D data acquisition card and CPU main board. They both based on PC/104 because they meet the demand of space, processing speed, and develop period of SINS. Navigation algorithm is programmed in VC. A new initial alignment method based on Eular angle is proposed. Results of static test are provided to illustrate basic function of the model machine.