Research On Marine Single-axis Rotating Inertial Navigation System

With the continuous development of inertial navigation technology,the application of Marine navigation system employed rotating modulation technology is becoming more and more widely,this technology reduces the cost,but to a great extent improve the precision of inertial navigation system.Rotating modulation technology is a basic and effective system technology,the technology of inertial components in a certain way of rotation to achieve the purpose of drift compensation,in the output precision of inertial component itself without change improve the navigation precision of the system.Rotating modulation in rotating cycle is the nature of cyclical change of attitude matrix,makes the system error of the slow changes in rotational cycle average close to zero,as far as possible to reduce the system error accumulation,improve the navigation accuracy.Based on the single shaft rotary strapdown inertial navigation system as the research target,the system working principle and composition,the hardware and software design,single axis rotation error compensation principle and transfer system design,impact resistant design of key technologies were discussed,and a lot of simulation is carried out using Matlab software on the system,the prototype system is developed,and verified by testing.Paper main work is as follows:First of all,the single shaft rotary strapdown inertial navigation system was put forward the overall plan,each part of the system composed of hardware and software in detail the design of the study.Second,the single shaft rotary strapdown inertial navigation system are studied the modulation mechanism of constant drift error of the inertial device,random drift error,scale factor error,installation error in rotating and non-rotating state simulation comparison,counter rotating a system design and simulation.Then,on the single shaft rotary strapdown inertial navigation system of shock design carried on the thorough analysis and research,the mathematical model of shock isolation system is established,and a simulation was carried out.According to simulation results,the shock isolator is designed,and the correctness of the simulation results are validated by test,the test results show that the shock design satisfies the requirement of Marine inertial navigation.Finally,based on the developed principle prototype,carry out the static and vehicle-mounted navigation test,proved that the developed Marine uniaxial rotating the rationality of the inertial navigation system and the correctness of the theoretical model created.