Strapdown Inertial Navigation System Based On Gyro-free And Single-gyro Mode

A system which only use accelerometer but has not gyro is called Gyroscope-Free Strapdown Inertial Navigation System (GFSINS). The research of GFSINS has got more and more recognition owing to its outstanding virtues such as low-cost, high-reliability, low-power, long-life, the advantages of rapid response by many domestic and foreign experts and scholars attention, has broad prospects of development. But the error of the angular velocity of GFSINS is very serious divergence over time. To improve accuracy, this thesis will study strapdown scheme with single-gyro , it can improve the error of the GFSINS.In this thesis, first, the principle of the SINS and basic solution methods of strapdown array are introduced. Secondly, research the variety constitute programme of GFSINS, principle and angular velocity solution method, to analysis and comparison the strengths and weaknesses of various methods. We study the mathematical model of single-gyro SINS and angular velocity solution method, the mathematical model of inertial sensor (gyroscope and accelerometer) are established for simulation. Finally, the configuration is simulated on the computer, which based on angular velocity and navigation calculation of the gyro-free SINS , single-gyro SINS and usual SINS.Through the analysis and comparison of the results, the angular velocity accuracy of single-gyro system was higher than GFSINS, the angular velocity error of the GFSINS can be restrained well. Simulation result shows, the solution accuracy of single-gyro system is better than GFSINS , poor than the usual system, but less project cost and have practical significance and application prospects.