Strapdown Inertial Navigation Algorithm And Semi-physical Simulation System

The inertial sensors of the strapdown inertial navigation system are directly mounted to the vehicle. Unlike platform inertial navigation system, special problems will occur when the software is considered in SINS. The key point of the thesis is to develop the SINS algorithm based on rotation vector and simulation as precise as possible.The main efforts done in the thesis are as follows:1. Because the data output of most of the inertial sensors in SINS is in incremental form, the fundamental theory of SINS based on the data output form is described in this thesis. Thetheory includes Euler angular algorithm, direction cosine algorithm, quaternion algorithm and rotation vector algorithm. And the computing burden is compared with each other.2. On the condition of selecting East-North-Up coordinate as navigation coordinate, the digital algorithms for SINS are deduced in details. The algorithms include attitude algorithm, velocity algorithm and position algorithm. And the errors of the algorithms are analyzed in details.3. The system' s mathematic simulation model is designed by using MATLAB, and the half-practicality simulation model is designed according to the request of the SINS platform for undergraduate teaching. The result shows that the simulation system is steady and reliable, the simulation result is satisfying.