Research For Error Damping Technology Of Inertial Navigation System Based On Kalman Filtering

Nowadays, strapdown inertial navigation system has been used to execute navigation task.China, is first aircraft carrier "liaoning" formal cross access column, ships need to accomplish large area and long time of navigational tasks. so strapdown inertial navigation equipment should be capable to give a continuous and high-precision navigation information.In this paper,we study the error of strapdown inertial navigation system and improve the system performance. The initial alignment methods of SINS are analyzed and studied meticulously, and damping technology during the navigation phase.(1) The working principle of SINS is analysed and the error equation of SINS deduced,Kalman filter model is established. Meanwhile, the influence of initial alignment error to SINS is tested with simulation.(2) The precision alignment method for SINS is studied, there are the initial alignment of the small misalignment angle and the azimuth misalignment angle. The alignment method of the standard Kalman filter and unscented Kalman filter are studied, and the alignment principle of the two cases are analyzed in detail. The results of the two methods are compared with the results of the fine alignment under different misalignment angles.(3)The Kalman filter of damp of attitude algorithm is analysed.Analysising the mathematical relationship between the three dimensional acceleration and attitude,and estimation attitude angle, and establishe Kalman filtering model, estimation attitude error of level to inhibit Schuler oscilation, and digital simulation in different motion environment.Compared with the traditional damp scheme, verify that the scheme is correct and error of the damping effectiveness.(4) Studying the Kalman filter damping technology with the aid of the external velocity,and the two kinds of different error suppression techniques are analysed. Through the correct establishment of the Kalman filter equation, using the Kalman filter optimal estimation value to feedback correction. One scheme is to compensate for the error of inertial components. A scheme is to correct the attitude error of the inertial navigation system. It can be compared with the traditional damping network. It can effectively inhibit the Schuler periodic oscillation.In this paper,the initial alignment method of strapdown inertial navigation system under different misalignment angles is analyzed, and the error damping technology is studied.Through the simulation experiments, the performance of the damping technique based on Kalman filter is verified in order to provide reference for the engineering practice.