High Dynamic Environment Sins Optimization Algorithm Research

The inertial sensors of the strapdown inertial navigation system (SINS) are directly mounted to the vehicle and the vehicle's high-frequency motions will affect the accuracy of the SINS. For example, the vehicle's angular and linear vibrations will result in the coning error, the sculling error and the scrolling error, so perfect algorithms should be designed to reduce the errors. Thus, it is a key point to study the high precision algorithms for SINS in highly dynamic environments.In the thesis, the fundamental theory of the SINS is introduced first, including the principle, the attitude updating algorithms and the navigation calculations. Then we primarily focused on the attitude updating algorithms, the velocity updating algorithms and the position updating algorithms for SINS in highly dynamic environments. The following investigations have been done:1. Firstly, it is analyzed that how the coning error occurs for SINS in highly dynamic environments. Secondly, the improved rotation vector algorithms in the pure coning motion are discussed and the computing burden is compared with each other. Lastly, computer simulations are executed to test the algorithms' performance. The results show that the rotation vector algorithms can improve the precision of the attitude calculation effectively.2. The sculling error in the velocity calculation is described and the sculling optimal compensation algorithms are derived in the sculling base motion environment. For testing the sculling correction algorithms' performance, several simulations are practiced and the simulation results show that the sculling compensation term in the velocity integration algorithms can not be neglected for the high accuracy SINS in highly dynamic environments.3. The scrolling error in the position updating calculation is discussed and the scrolling error compensation algorithms are studied in the sculling base motion environment. The simulations of the algorithms are performed and the results show that the scrolling correction term should be considered to improve the position accuracy for the system with high-resolution position updating requirements.