Initial Alignment Of Ins Applied Research, In-vehicle Multi-sensor Integrated System

Strapdown inertial navigation system(SINS) is a kind of advanced inertial navigation technology. which is small in volume, light in weight, less in cost and high in reliability contrast to platform inertial navigation system. It is the developing direction of inertial navigation system. Initial alignment is a key technology of SINS, whose accuracy influences on the precision of SINS. This thesis stems from part of a certain 863 project, and based on IMU7000,deals with two key technology of SINS in order to make a foundation for further research. In this thesis, the main work includes the following aspects:1. Design the data-collecting software of inertial navigation system,including software of IMU data collecting and software of inclinometer sensor data-collecting system. for the vast quantity data is transferred between the device and PC via a serial port, the software must prevent memory leak.2. Research on initial alignment method of SINS. First of the thesis presented the analytical sketchy alignment, the method of utilizing the acceleration rate of the system itself, and gravity force due to gyro, and rotation information of the method of self-alignment, which can roughly given the initial value of Strapdown matrix as the initial value for precision alignment.3. Research on Kalman filter and its application in initial alignment. Firstly, the application background of Kalman filter theory is discussed. secondly, discrete Kalman filter equations are derived, and state equations of continuous system are discrete. the equations used are listed in the thesis.4. Discuss a system error equation. On the basis of Kalman filter will be used in initial alignment of the SINS, and an analysis of simulation is made.