The Research Of Shot-time Inertial Navigation Base On Stabilized Gyrocompass Technology

The short-time inertial navigation function based on the stabilized gyrocompass is the mainstream of development of current stabilized gyrocompass. The error of traditional pendulum type gyrocompass is very big because of the maneuver navigation, and it also has the shortcoming that it can't calculate the ship's position, so it can't fit the request of the navigation and weapon equipment system of contemporary naval vessels. After the deep study of the operational principle and the machinery arrangement ,along with the detailed various comparison, this thesis bring out the short-time inertial navigation working statement based on the stabilized gyrocompass.The stabilized gyrocompass is similar with the inertial navigation system in the main body structure, but they are different in many aspects such as the operational principle the machinery arrangement and the micro-computer system. So if you want to switch the stabilized gyrocompass working statement to the inertial navigation working statement, the system's initial statement control equation and the movement equation will be changed. And this lead to the whole balance of system is damaged. To make the statement of system switch quickly and steadily, we add a manmade transition process when we switch it.For the inertial navigation system is a long-period vibration one , After the system switch to the new working statement ,the damping take place after several period error and reach to another new stabilization . Obviously so long a time is not fit for the request of actual work. The project of this thesis is going to bring out the method of statement switch rapid damping controlled by the software. At the same time, to enhance the system precision of short-time inertial navigationworking statement, The thesis bring out the thought of re-designing the hardware equipment such as accelerometer data sampling circuit the D/A conversion circuit and the computer system. In the software design the gyro's drift measure and the process of calibration is added. The Kalman filtering technique is used in the horizontal initial alignment and the azimuth initial alignment.