Research On SINS/CNS Integrated Navigation For Ship

Strapdown inertial navigation system has obtained more and more good graces for itsunique of advantages, has become the primary means of navigation, but with disadvantage oferrors accumulate over time grows. The problem has been well solved by integrate navigationsystem. Celestial navigation is a navigation system for high precision, strong anti-interferenceability, the disadvantage is that data update rate is relatively low, but the error does notaccumulate over time grows. Therefore strapdown inertial navigation system can becombined with the celestial navigation system, strapdown inertial navigation system isassisted with the celestial navigation system, so that their respective advantages into full play,achieve the goal of high-precision navigation.Article first analyzes the basic principles of strapdown inertial navigation system, themathematical model has arranged based on the basic principles, and basic equations ofstrapdown inertial navigation system has derived in this paper, and the error equation haslisted based on error analysis. And the basic principles of celestial navigation system has beenresearched, and key link, for example, navigation star map simulation and navigation starmap extraction and navigation star map recognition are discussed in detail. The workingmode of integrated navigation system is analysis, and the three kinds of integrated navigationsystem based on information fusion technology are simulation by kalman filter in MATLABenvironment, and comparison with strapdown inertial navigation system.Through analysis and comparison suggest that the interconnected system’s error basedon quaternion error are excessive, and the use of little value; the interconnected system’s errorbased on error quaternion is within the acceptable range of error, but only suitable for shortsail navigation task. This article focuses on the interconnected system based on attitude errorin terms of accuracy and stability is better than the first two methods, and the requirement oflong time navigation is met, this solution will benefit the engineering machine.