Research On Design And Experiment Of The FOG-SINS And Integrated Navigation

Strapdown inertial navigation system have the sensors attached rigidly to the body of the host vehicle, compare with the traditional platform systems, it has such advantages: low cost, mini volume,high reliability and easy maintenance. Additionally SINS has a strong anti-jamming capability. In modern war, such as precision navigation and positioning, Weapons Guidance, Precision strikes in the stand-off, SINS play an irreplaceable role. Recently SINS has been Widely used in Aircraft, missiles, submarines and tanks. In recent years, Small-scale low-cost SINS combined with satellite positioning and navigation system, which led to great change of long-range precision strike.According to the above circumstance,the paper designs a Attitude Heading Reference System based on fiber optic gyro. The navigation computer of the system is composed of SOPC embedded system. Software combines the navigation computation with quaternion and ZUPT with kalman filter, horizon attitude errors of AHRS can meet the requirements of a long-term work.The paper includes three main parts of work: establish the hardware platform based on SOPC for SINS, realize information effective transmission; design the calibration experiment for IMU, and identify the error model parameters; design the navigation computation software and experiments.1,Firstly, the paper has made the overall introduction to system, introducing the composition of the system, the principle of fiber optic gyroscope and accelerometer, the hardware interface circuitry, power circuitry, customization embedded kernel and peripheral.2,The error source and the error model of the inertia elements has been analyzed, and designed the calibration experiments and Allan variance experiments of IMU, the scale factor, the installation error coefficients and bias stability are presented.3,The paper introduces the element theory of the FOG and the Strapdown Inertial Navigation System. Design the compensation algorithm and signal processing algorithm, experiment the algorithm off-line.4,Design the navigation computation software based on the quaternion and ZUPT with kalman filter, described the software in detail and simulation the experiment.At last, do the static and sway test base on the system. Experimental results show that the AHRS based on the FOG with kalman filter is effective and feasible.