Research Onattitudealgorithm And Error Of Auto-compensation In The SINS

Strapdown inertial navigation system (SINS) is the developing direction of inertial navigation because it i s a ki nd of ve ry a dvanced inertial na vigation technology. Because of vehicle's d ynamics, angular and linear vibrations of the measure ax is w ould be a rised. That r esult in the nonc ommutativity d uring th e computation of navigation parameters. To settle this problem, the first way is to design and make high precision inertial instruments, i.e. gyros and accelerometers. But the inertial instruments performs are limited with material and technical level. The second way is to design and use optimal algorithms. And the third is used auto-compensation t echniques of r otation i n h igh accuracy inertia1 navigation systems, it is a method of automatic correction and it can measure and compensate the errors of system inertial measuring units, and counteract the influence of errors to system precision automatically.The first half of this thesis has done some works on optimal algorithms. It is introduced that the basic operation principle of SINS. Study on a ttitude-updating algorithm. Attitude-updating a lgorithm ba sed on qua ternion a nd r otation ve ctor were studied respectively. Simulations were used to analyze the performance of the algorithm. The l atter p art of t he t hesis h as b een focused on t he p roblem of auto-compensation t echniques of r otation i n h igh a ccuracy i nertia1 n avigation systems based on ring laser gyros. Research on the auto-compensation principle and the in dexing scheme of rotating INS. On the analysis of the essence of drift auto-compensation b y rotation, discussions and c onclusions a re m ade on t he genuine problems in rotating ine rtial navigation s ystems, such as com pensating pattern, axis direction, rotation period, and etc. Based on the analysis of single axis rotating s ystem, an e ight-sequence t wo axis i ndexing s cheme a re put f orward referring to the pl atform r otating s cheme of e lectrostatic gyroscope s ystem, establish the time-varying state space model. Analysis and simulating show that the eight-sequence scheme is very practical.