Modeling The Effects Of Classical Environment On Inertial Measure Unit For Simulation

Precise models of random error of Ring Laser Gyroscope(RLG) and effect of the environment on the Inertial Measure Unit for simulation are basis of Inertial Navigation System research, which are of great importance in designing systems, algorithms research, digital simulation and Semi Physical simulation. The paper has completed the following tasks related to build models of Inertial Measure Unit for simulation.1. The random error of RLG directly affects the precision of Navigation System, which contains Angle Random Walk, Bias Instability, Quantization noise, Rate Random Walk and Rate Ramp, etc. The paper has built the models for generating five kinds of noise data, the special spectrum density of which are the same as those of the main five noise sources contained in the random error . The result of Allan Variance analysis shows their accordance with the theory.2. The paper has deduced the State equation implementation of classical vessel dynamic equations, which describe the surge, sway, heave, roll, pitch and yaw of vessel in the sea wave. Considering the lever-arm effect the paper has built the model of on board IMU output in the sea wave, and has given the simulation of the model with some classical parameters.3. The paper has described the models of wing flexure and vibration with two-step Markov process and sine function with random phase, and analyzed effect on IMU that fixed on the plane.