| Platform inertial navigation system as the core equipment of the Yuanwang survey vessel plays an important role in the location and the direction, which makes a great contribution to the survey vessel’s autonomy, independence and disguise. This paper is based on the national defense project’ Research of the Survey Vessel’s Inertial Navigation Test Platform’, combined with the platform inertial navigation system’s algorithm evaluation and performance research needs, developed a inertial navigation digital simulation system.Firstly the paper introduces the PINS’s working principle and its working states, working styles’ realization methods; Secondly, the paper make a study of the Kalman filter applied to the PINS’s structure and methods, and deduces the prediction process of their state equations and measurement equations respectly. On the basis of the above, the paper establishes the mathematical model of every part, lays a foundation for the simulation system’s algorithm module program implementation.In the overall design of simulation system, the paper adopts the modular thought to divide the algorithm module into the ship motion module, the accelerometer module, the navigation calculating module and the platform motion module; besides, the paper also divides the system’s software structure into the user interface module and the background algorithm module with the point of functional requirements. On this foundation, LabVIEW is used to develop a PINS emulator, which has a friendly human-computer interface, and is able to display the navigation information, the error curve in real time.Finally, the paper completed the comprehensive simulation experiments, and the simulation results show that the system not only can be used as the traditional algorithm evaluation platform of the vessel’s inertial navigation equipment, but also can be used as its new algorithm performance study platform; it provides a good environment for the vessel’s algorithm improvement and the crew’s study. |
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