Sins Algorithm And Navigation System For Vehicles

The inertial sensors (gyros and accelerometers) of the strapdown inertial navigation system (SINS) are directly mounted to the vehicle. Unlike platform inertial navigation system, special problems will occur when the software and the hardware are considered in SINS. There are two key points in the research on SINS. One is to get the measurements of the vehicle motion as precise as possible and the other is to develop navigation algorithms by which the navigation accuracy can be guaranteed.The main efforts done in the thesis are as follows:1. Because the data output of most of the inertial sensors in SINS is in incremental form, the fundamental theory of SINS based on the data output form is described in this thesis. The theory includes quaternion and rotation vector, coning error, sculling error and scrolling error and the compensating methods of these errors.2. On the condition of selecting East-North-Up coordinate as navigation coordinate and supposing the updating periods for attitude, velocity and position all the same, the digital algorithms for SINS are deduced in details. The simulation results show that coning error and sculling error can be compensated satisfactorily in the algorithms.3. The vehicle-borne integrated navigation system is studied. The paper presents the form of SINS/Odometer(OD)/Global Position System(GPS) integrated navigation system based on SINS. State and observation equations are established for Kalman filter. The simulation result shows that the integrated navigation system can reduce navigation error when using the feedback calibration method.The main innovations done in the thesis are as follows:1. The rotation effect of navigation coordinate is well compensated in SINS attitude algorithms. Scrolling error compensation can directly be used in the position matrix update algorithms. Programmers can easily program in practice when using the SINS digital algorithms.2. Based on trajectory generation, SINS digital algorithms and the vehicle-borne integrated navigation system are designed using object oriented design (OOD) and C++ language; hence simulated.