Research On Integrated Navigation And Zero Velocity Update Technology Of Strapdown Inertial Navigation System With Ring Laser Gyroscope

The Strapdown Inertial Navigation System (SINS) has superior short-term error performance, but the position errors of SINS are unbounded. On the other hand, long-term accuracy of Global Positioning System (GPS) is good, but short-term accuracy is poor. The shortcomings of SINS and GPS can be improved by assistant of the GPS/SINS integrated navigation technology. The accumulated error of SINS can be fixed by the Zero Velocity Update (ZUPT) technology effectively without any auxiliary system. This thesis is emphasized particularly on this two fields and the main work done is as following:1. The Auto-Regressive (AR) model for the random sequence of Ring Laser Gyroscope (RLG) is built and the AR (2) model is agreed with SINS.2. The arithmetic of GPS/SINS integrated navigation by assistant of the RLG AR (2) model is designed and the corresponding Kalman filter model is built.3. The software of GPS/SINS integrated navigation system for data-collecting and data-processing are programmed. Vehicular experiment for GPS/SINS integrated navigation system is done. The original data of GPS/SINS integrated navigation system are computed and the result of the experiment is analyzed.4. The arithmetic of the second-order polynomial fitting and the Kalman filtering model for ZUPT technology are designed separately and the corresponding model are built.5. The software of the second-order polynomial fitting and the Kalman filtering for ZUPT technology are programmed. Vehicular experiment of ZUPT technology for SINS is done. The data of vehicular ZUPT experiment are computed and the result of the experiment is analyzed.By the assistant of the AR-Model of RLG, the attitude accuracy of the GPS/SINS integrated navigation system can be improved by the Kalman filtering technology. Under the condition of only 30 seconds initial alignment time of SINS and then come into the integrated navigation stage, the horizontal error angle gets an accuracy of 20″in 50 seconds and the azimuth error angle gets an accuracy of 5′in 500 seconds. Comparing with the real velocity, the velocity error of the GPS/SINS integrated navigation system cannot excess 0.1 m/s.The vehicle experiments were carried out under both repeated and complicated driving conditions. The results of the ZUPT repeated driving experiment show that the accuracy of SINS have agreat relationship with the interval time, The shorter of the interval time is, the higher accuracy of SINS is. The results of the ZUPT complicated experiments show that, under the condition of shorter interval stop time within 50~70 seconds and the path length within 10km, the positioning accuracy of SINS can be controlled in the production tolerance by the way of second-order polynomial fitting technology. Under the condition of intercal stop time within 50~100 seconds and the path length within 33km, the positioning accuracy of SINS could fully meet the safety and production of people and locomotive in underground mine. The positioning error of SINS can be controlled effectively by the way of Kalman filtering ZUPT technology.