Design Of Inertial/Integrated Navigation System Digital Simluator Facing To Internet

What the strapdown inertial navigation system experiments in the laboratory are captive tests and can not provide the navigation data of the dynamic environments, so it is essential to develop a common simulator of the inertial navigation system with the computer simulation technology, which is used to simulate the navigation parameters output of INS in the dynamic environments, and to debug the integrated avionics system in the laboratory.In this paper, with the theory of aircraftdynamics and flight control system, the simulation system of the flying parameters was carried on firstly. The output data of the flight simulation system was used as a calculating source of the inertial navigation simulation system, so the dynamic and real-time simulation of the inertial navigation system was achieved. On this basis, the algorithm and error model of SINS and the error model of the SINS/GPS are deeply analyzed, and the Kalman filter of integrated navigation is designed according to the practial engineering application. Lastly, a set of universal simulation system with three navigation modes is designed in the development environmrnt of Visual Studio2005.The main researches and the innovation points in this thesis are as follows:1. First of all, the models of inertial components and the error models of SINS, GPS and the state equation of SINS/GPS integrated navigation system are established. Then the initial alignment algorithm using Kalman filtering precising alignment scheme is deduced in detail, and a new predigested attitude update algorithm applied to the project is proposed. In the end, the Kalman filter of the integrated navigation is designed.2. Based on the theory of flight dynamics and flight control system, the aircraft aerodynamics model, the motion model and the wind model of the atmospheric environment are established. With the idea of modularization and object-oriented design(OOD), the data structure of the trajectory simulation software is constituted, the program of the joy stick and the aerodynamic data processing are tapped, and an aircraft flight real trace generator for dynamic simulation is developed on Visual Studio2005developing platform. 3. The parameter binding module, the inertial device module, the inertial navigation calculating module, the inertial navigation display module, GPS simulation module, the integrated navigation calculating module, the integrated navigation display module and the relevant implement interfaces of those modules are designed at length, and a simulation software of the common multi-model inertial/integrated navigation system is developed in the development environmrnt of Visual Studio2005. And then the dynamic simulation of inertial navigation is came ture by the user data packets(UDP) protocol tansmitting flight trace real data from aircraft flight trace generator to inertial/integrated navigation simulation system. Lastly, navigation data sharing is achieved by Ineternet tansmitting navigation calculating data from inertial/integrated navigation simulation system to peripheral devices.4. Ultimately, a large number of tests of the simulation system are carried out in the different working modes, different flight conditions and different inertial device accuracies. The position precision, attitude precision and velocity precision of the SINS and SINS/GPS are calculated with the methods of CEP(or σ) and RMS, which make the practicability of the simulation system be verified.