Design And Realization Of Simulation System For Navigation Trajectory Of Multi-function Marine Carrier

The strapdown inertial navigation system algorithm design and performance test are based on the real-time output data of inertial device.However,however a physical test will cause longer system development cycle and increased cost.At the same time,the data obtained through this method is easily affected by the external environment and the device itself performance,leading to bigger data error,so it makes real inertial navigation system in the practical engineering application is unable to do test.In addition,statistical design of simulator for inertial navigation system on the one hand,the data accuracy is poorer;vehicle trajectory is incomplete;movement module cohesion between poor performances causes data mutation.On the other hand,it will not be able to intuitively represent the actual movement of a shipment carrier during the simulation,therefore developing systematic three-dimension visual simulation function in the practical application is an important topic.Therefore,aiming at the problem of lack of motion module and the lack of connection of the motion module,this paper regards marine vehicle navigation system as the research object,focuses on strapdown inertial navigation system,designs and implements a set of multi-functional marine carrier navigation trajectory simulation system.In order to meet the simulation requirement of the system under different trajectories,the paper analyzes the motion of the ocean carrier on the surface of the earth and designs a comprehensive carrier motion trajectory module,including static motion,uniform acceleration and deceleration motion,snake motion,Z Sports and so on.At the same time,the error of the inertia device output information(angular increment and velocity increment),which causes by parameter mutation in the superposition process of carrier motion module.This paper puts forward a method of boundary conditions of adjacent modules,implements smooth movement in the process of module cohesion.The simulation experiments verified the effectiveness of the proposed methods.The strapdown inertial navigation system algorithm is analyzed,inertial device mathematical model with incremental form as data source is deduced,and an error model is established,which makes the simulation data are more close to the real inertia output.This paper analyzes the function and performance of the simulation system based on modularization and object-oriented design thought,and realizes the simulation interface design based on VC++ programming language.It includes motion module,real-time display and curve drawing module of navigation information,simulation verification module,datastorage and other functional modules.At the same time,a three-dimensional visual display and contrast is achieved by application of the open graphics library OpenGL and modeling software 3DS MAX.In order to make the simulated data better transfer to the mature simulation verification module for solution,the navigation inverse solution algorithm is analyzed and verified,and data communication module requirement is analyzed,to achieve real-time data transmission function.At last,the simulation experiment of inertial navigation system under the different motion conditions of marine carrier is carried out,which verifies the accuracy and feasibility of trajectory simulation system design.