Simulation On Strapdown Inertial Navigation System And Research On Its Integrated Navigation

Strap-down inertial navigation system (SINS) is a kind of very advanced inertial navigation technology, and it is a developing direction of inertial navigation. For SINS has a series of advantages, it has become a trend that SINS will take the place of platform inertial navigation system in new century.This paper expatiates on the principle of SINS, and designs an emluator for this system. Some key techniques are simulated. At last, the principle of combining navigation is studied in this paper, and the most popular INS/GPS combining navigation is also researched.The most important contents are as follows:1. This paper introduces the history of navigation, lists the advantages and the disadvantages of these navigations, and gives the reason why the INS is the most important navigation.2. This paper expounds the principle of SINS. In the algorithm of updating attitude matrix, the quaternion and its application in the space rotation model is presented, at the same time, the algorithm of updating attitude matrix of quaternion is showed. Using the picture of SINS principle, the principle and the data processing is explained, mathematics is used to describe every part, and the math model is designed in the program for simulating SINS. The ship movement model is used to simulate the track to offer the data for SINS emulator model. For gaining the true inertial devices data, errors of the devices are simulated.3. The methods of initial alignment of attitude matrix are given. The principles of coarse alignment method and accurate alignment method are studied. Kalman filter is introduced into accurate alignment method.4. The integrated navigation and its principle, methods are studied. The Kalman filter is applied in integrated navigation. Kalman filter equations are based on GPS/INS position & speed combined method.