The Design And Realization Of Strapdown Inertial Navigation System Emulator Based On COM

For designing the navigation system better,simulation data from different kinds of sensors under a variety of environments is required for precise measurement of SINS error.Real data acquisition is a difficult job,costing a lot of time and labor.Fast development of computer technology has made it possible to do the research,designing and analysis work,in particular error analysis,on the simulation platform.Were the system hardware not available,the development of such a simulator would be especially necessary.With this simulator,it would become more economical and effective to study the strapdown inertial navigation system,reducing the distance between theory and practice and providing a good tool to observe the precision and performance of strapdown system.This paper introduces the design and the realization process of the Strapdown Inertial Navigation System(SINS) simulator on the basis of COM.The software boasts a friendly human-computer interaction interface that could display the navigation information in the form of charts and meters.Functions like system parameter setting and error resolving of inertial components are added on the basis of the resolve of SINS model.The mathematics models of the SINS are set up firstly in the paper,which include mathematical model of trajectory generator,inertial components (accelerometers and gyroscopes) and SINS's solution.The theory and relationship between COM and ATL are analyzed in detail in the aspect of software realization, and the ATL technology is used to encapsulate the models to the COM component in the way of class,which will be called by the interface program.In the interface program design for the simulator,development flow and the software structure of the simulator,specific realization of the interface program under the environment of Visual C++6.0,the calling of COM component by the interface program,and the controls of the chart and the meters are all presented in the paper. At the end of the paper,the SINS is emulated and analyzed in full-scale by applying the simulator software,which helps to comprehend the SINS and validate the correctness of the simulator.