Design And Researches On A Novel Strap-Down System Based Upon Geometric Inertial Navigation Theory

Strapdown Inertial Navigation System (SINS) is a common inertial navigation system. Compared with platform INS, Strapdown INS has the advantages of low volume, low weight, low cost and high reliability. Strapdown INS leads the developing trend of INS. Among the various of platform-inertial navigation systems, Geometric platform INS has the advantages of high positioning accuracy .It can also navigate and control for quite a long time. However, there is no existing SINS system adopt this way to accomplish the navigation. This paper studies the realization of SINS based upon the principle of Geometry platform INS. Also in the paper, the simulation and comparison of the novel SINS scheme in order to analyze its feasibility, value and possibility of realistic application. It has a greater significance to practical work. The following works have been done:1. According to the basic principle of Geometric Platform INS , the paper designed strapdown system based on the geometric inertial navigation principle. Some important technology were analyzed both in SINS and geometric SINS including coordinate system and the relationship between them, the basic equation of SINS, the initial alignment, and so on.2. By analyzing access methods of the matrix in SINS, determination of the matrix of geometric-INS has been made. Comparison the novel SINS with the classic update algorithm of attitude matrix, such as Euler angle, quaternion, the rotation vector, and so on. Combination the novel SINS with the actual conditions so as to select updating method of matrix.3. A specific algorithm of the geometric-SINS block diagram was given based on the mathematical model arrangement of the geometric-SINS. Establish the necessary mathematics model including attitude data, track data, gyroscope and accelerometer's output data. According to simulation of the results of SINS and geometric-SINS the paper analyzed the feasibility of the system.