The Design Of Inertial Navigation System Simulator Based On Submarine Space Motion

Inertial navigation system (INS) will produce dynamic systemic errors when the vehicle maneuvers in three-dimensional space or the working state switches. The study of INS based on the actual vehicle space motion has an important theoretical and practical significance for analyzing INS performance and solving the adaptability of INS to vehicle space motion. This paper relies on the ongoing project assumed by the laboratory, makes analysis and study on the dynamic error of INS based on submarine space motion, and accomplishes the design and realization of the simulator, thereby providing a good method and a simulation platform for further analysis of the adaptability of INS to the motion.Firstly, the simplified models of the submarine space motion are established and validated by simulations, and the submarine space motion characteristics are also investigated and simulated. Secondly, the uniform mathematical models of platform inertial navigation system (PINS) suitable for computer calculations are established by analyzing the principle of PINS.Based on the above study, the system embedded navigation algorithms from submarine space motion to PINS are investigated and established, and the whole embedding process is described and realized in detail. The characteristics of embedded INS is analyzed and studied under different submarine space motion states via computer simulations. The simulation result validates the correctness of the system embedded algorithms.At the end, the INS simulator based on submarine space motion is designed and realized in detail using the object-oriented programming technique. The simulator can simulate the characteristics and error changes of PINS under the circumstance of actual submarine space motion and dynamic display the real-time system navigation information with a friendly user interface.