Inertial Navigation System Moving Base Initial Alignment Studies And Simulation

Initial alignment is a key aspect of inertial navigation technology and application. With widespread use of application inertial navigation, people pay more and more attention to high accuracy and fast initial alignment. The paper-'Study and simulate on moving base initial alignment of strapdown inertial navigation system(SINS)', study systematically and all-around the design and realization moving base initial alignment of SINS, Some further research is done for application of Kalman filter in initial alignment, observability and its degree. The main work done is as follows: . Study on Strapdown Inertial Navigation System (SINS)The concept, process and the already done work of initial alignment of SINS arc introduced briefly. For selecting coordinate and deriving the error model, presenting some kinds of coordinate in the inertial navigation system (INS); The initial alignment of SINS theory is introduced in detail; The linear error model of moving base initial alignment of SINS is derived, including analysis in characteristic and influence of system error of inertial apparatus. . Study on Observability and Degree of Observability of SINSObservability and degree of observability analysis of a dynamic system is an essential procedure to determine the efficiency of a Kalman filter designed to estimate the state of that system. A piece-wise constant system (PWCS) method and singular value decomposition method of observability matrix of a dynamic system is proposed. And the good effect is achieved for analyzing observability and its degree of strapdown inertial navigation systems in initial alignment stage. Through the computer simulation for different maneuver trajectories of the carrier in initkil alignment stage, obtain some important results. . Study on application and simulation of Kalman filter technology in SINSBecause Kalman filter some merits, such as provided a fast and accurate method for SINS, adopting it to do initial alignment in this paper. The Kalman filter theory is introduced and the dynamic error vector equation of the initial alignment is derived at the first. Using velocity error as exterior value of observation, maneuverable characteristic that is influenced with system's observability and its degree is studied at length by do amount of simulations and experiences. Choosing output error of Accelerometers and angle error of attitude as observation respectively and system observation model is derived, which is based on analyzing Kalman filter theory.Simulation show that the results are true and validated.