The Airborne Laser Sins Optimization Algorithm

Absolute independence, concealment and navigation information full are special characteristics of inertial navigation systems. These characteristics make inertial navigation systems to lead special important status in military application, the laser strapdown inertial navigation system (LSINS) technolog plays the very important role to enhance our country weapon's precision guidance performance.In order to enhance overall precision of the LSINS and meet the precision guidance performance of weapon platform (airplane), algorithms of LSINS are systematically and throughly studied.The main research work concentrates on algorithm research, algorithm deduction and simulation confirmation in this thesis, specifically:1. Basic theories of inertial navigation are summarized. Including some commonly used parameters and definitions are explained;vector cross product and Coriolis theorem are introduced;coordinate transformation and specific force equation are deduced;some symbols are illustrated.2. Algorithms of LSINS are accurately deduced. Some algorithms research are as follows: the quaternion algorithm and the equivalent rotating vector algorithm of attitude updating;the equivalent rotating vector three-sample algorithm drifting and the optimized algorithm under coning movement environment;the velocity updating algorithm and the optimized velocity algorithm by compensated sculling error;the position updating algorithm and the optimized position algorithm by compensated scrolling error.3. Extended navigation parameters (ENP) and great circle flight path (GCFP) calculated algorithms are presented in detail and the algorithm flow chart is presented.4. Optimized algorithms of LSINS and GCFP trajectories are confirmed by entire digital simulations.Data acquisition, analysis, induction, mathematic deduction, physical deduction and simulation confirmation method are mainly used in the research process. Simulation results show that the attitude precision reaches arc-min level and the position precision reaches meter level in 1000 seconds by optimized algorithm calculation.The main innovations done in this thesis are as follows:1. Optimized algorithms of attitude, velocity and position calculated of LSINS are presented.2. Algorithms of ENP and GCFP are presented.3. Entire digital simulatons of optimized algorithms of LSINS and GCFP trajectories are done by computer programming.