| The inertial measurement devices of SINS are attached to the vehicle directly, which make the system remove the complex mechanical structure of the stable platform. Therefore,SINS has the advantage of small volume, light weight, simple structure and so on. However,the system error cycle oscillation and longitude errors increasing with time of INS still exist in SINS.In this paper, in the light of the damping technology of inertial navigation system and the comprehensive correction technology is analyzed and put forward a new method, the final simulation test and verify.In order to eliminate the error of the phenomenon of periodic oscillation, typically add damping in SINS.However, for damping SINS after adding damping network, need to go through a process of adjustment to make the system to achieve a stable working condition.When damping SINS in the adjustment process, the system existed in the overshoot, it will seriously affect the performance of the system.Damping system in this paper, by using Kalman filter to replace the original damping network, shorten the system adjusting time,eliminate the overshoot problem due to damping switch.At the same time, outside observation speed error is analyzed and the traditional damping system with Kalman filtering error and the influence of the damping system, puts forward the consideration of velocity error such as ocean current damping Kalman filtering technique.This technique by changing the observation model of Kalman filtering, eliminate velocity error current thereof, and time update and measurement update equations of the improved models are derived, applied to the damping method of an inertial navigation system and simulation validation.In the process of the inertial navigation system in the long run, the accumulation of the error has a great impact on the navigation accuracy, therefore needs to use the comprehensive correction technology system for parameter estimation and reset aperiodically. At the same time is proposed based on the position and velocity information of a period of time to estimate gyro drift and make one point calibration method, greatly improving the comprehensive correction technology is practical, improve the system accuracy. |
