Research On Data Processing Technique Of Inertial Navigation And Orientation System

Inertial navigation system is composed of strap down inertial navigation system and platform inertial navigation system. Strap down inertial navigation system is a developmental orientation of inertial technique. Strap down inertial navigation system substituting platform inertial navigation system increasingly has become a new trend in new century for its a series of merits. It is a long time since Strap down inertial navigation system were used in rock oil pipeline detection and achieved huge success in many other countries, but still is vacancy in domestic. This paper discussed and researched strap down inertial navigation system used in rock oil pipeline detection based on project practice.This article bring forward a strap down inertial navigation design scheme from project practice, and put emphases on the realization of strap down inertial navigation arithmetic.In the front of this paper, I introduce the actuality of inertial navigation, following it I illustrate its basic work principles detailed and its hardware realization. The main work is establishing strap down inertial navigation's realizable scheme and its hardware compose, including the selection and design of computer, gyroscope, accelerometer, analog to date digital converter; and the hardware circuit of data acquisition and data previous processing. And then I clarify the software compose of the system based on this.I give an sufficient research on data processing and pose matrix arithmetic .The main contents in this part are the relationship between several axis used in strap down inertial navigation; the arithmetic of the pose matrix which used; and the data processing technique which needed. I discuss application of the orientation cosine arithmetic and quaternion arithmetic in strap down inertial navigation.Finally, I give the flow chart of the software and its particular compile sequence. The experiment has been given in this article and the results sustain that the method I afforded is feasible in rock oil pipeline detection and it has some applied value.