Sins Accuracy Algorithm For High Dynamic Environment

With the rapid development of electrical technology and computer technology, the strapdown inertial navigation system (SINS) has substituted the platform inertial system gradually and represents the future developing direction of the inertial technology. Nowadays, the accuracy level of SINS in our country is still low. To settle this problem, one way is to design and make high precision inertial instruments, i.e. gyros and accelerometers. But the inertial instruments' performs are limited with material and technical level. Another way is to design and use optimal algorithms. Thus, it is necessary to study the high precision algorithms for SINS.From the practical demand, this thesis studies the high precision algorithms for SINS in high dynamic environment. The study in this thesis has practical value and utility value.The theory of SINS is described firstly, including the principle of work, the attitude update algorithms and the navigation calculations. And the algorithms of the attitude matrix are discussed in detail. With the many problems to be considered and solved in engineering, the following works have been done:1. The error of SINS in high dynamic environment is discussed. It is analyzed here that how the coning error, sculling error and curling error occur and the compensating methods of these errors are presents in this paper.2. The error criterion is derived from rotation vector concept directly. In the coning motion environment, a class of rotation vector optimal algorithms are derived and evaluated with the rule of making sure of the minimum coning error.3. The computer loading of the algorithms are also studied.4. The algorithms' accuracy is compared with the traditional quaternion algorithm via digital simulations. The simulation results are accord to the theory conclusion. And in this paper, it is discussed that how to select the optimal sample algorithm and how to make full use of the gyro data per update.5. Aiming to a practical application in engineering ?directional bomb, the algorithms' accuracy is simulated for the directional bomb's practical motion environment.