The Simulation Platform Of Strapdown Inertial Navigation System

Strapdown inertial navigation system (SINS) can autonomously provide acceleration,velocity, position, attitude and other location information of the transportation, while itdoes not require any external information. SINS can really achieve the autonomousnavigation. Compared with Platform Inertial Navigation System, SINS is smaller in size,lower cost, more reliable and has other advantages. So SINS has leaded the maindevelopment trend of inertial navigation system. The article is primarily designedsimulation platform by simulating the entire process of SINS in order to better study SINSnavigation algorithms and analysis of the running track in the different circumstances.According to the parameter setting can be generated different conditions of vectortrajectory to research and analysis of different fields of navigation system.Firstly, this paper introduces the development background and present situation ofSINS, discusses in detail the basic principle of SINS and the simulation process. At thesame time describes the principle of inertial navigation system (INS) and classification(strapdown inertial navigation and platform inertial navigation), explains the advantagesand characteristics of SINS compared with the platform navigation.Secondly, this paper analyzes the realization method of Coarse Alignment andPrecision Alignment. Through the Kalman filter algorithm establishes the system stateequations and observation equations, in order to achieve the SINS initial alignment andimproves the performance of the system. Application of the quaternion method to analyzeattitude algorithm as well as the corresponding attitude angel, at the same time position,velocity, and acceleration algorithm are studied in detail.Thirdly, based on the actual characteristics of SINS, the simulation platform isdivided into four main parts: trajectory generation module, inertial sensitive componentsmodule, navigation calculation module and error generation module. This paper gives adetailed analysis of the various parts of the algorithm and principle, introduced each module input and output parameters and functions, and gives the system simulation solverparameter diagrams.Finally, this paper builds the SINS simulation platform in the MATLAB/SIMULINKenvironment to achieve inertial navigation simulation function. At the same time gives thediagram of simulation on the entire system and each subsystem module, and makes a briefdescription. According to the input data can simulate the actual trajectory and the trajectoryunder the action of navigation, and gets the navigation error. SINS simulation platform canbe more intuitive observation vector operation error, better research and analysis ofdifferent fields of navigation algorithm, and try different integrated navigation system.