Research On Application Of Gyroscope-Free Strapdown Inertial Navigation System On Spacecraft

The gyroscope free strapdown inertion navigation system (GFSINS) is a kind of SINS in which gyroscopes are not used to measure angular velocity, but a multi-- accelerometer combination which arranged according to certain rules is used to mea- sure the force which is not the center of mass of the spacecraft, then calculate the angular velocity and linear acceleration of the spacecraft from force, then get the all parameters of the inertial navigation system. GFSINS not only have the strong autonomy but also have the advantage of low cost, high reliability, low power consumption, long operating life, small volume, fast response. With the development of micro-accelerometer technology, GFSINS is bound to become the mainstream of low-cost inertial navigation system. GFSINS is applied to the spacecraft in this paper. With the purpose of solving some problems arising in application in theory, achieve its autonomous navigation on spacecraft. The main contents of this dissertation are consisted of the following parts.For the situation that GFSINS do not install at the center of mass of space- craft, the accelerometer integrated coordinate is introduced, the equation of non-specific force at the center of mass is established, so that the GFSINS can be installed anywhere on the spacecraft, to some extent, the practical application ability can be improved.Research on the accelerometer configuration and the solution method of angular velocity. First, described the basic principle of accelerometer con- figuration, on this basis, proposed a scheme of twelve accelerometers, and derived the equation of the accelerometer force output. Then, analysis of the traditional method of angular velocity, proposed a quaternion-based method to solving the angular velocity according to the practical application, and, on the basis, a kalman filter is designed.Finally, the simulation result are analyzed and discussed after numerical simulation. For the situation that GFSINS do not install at the center of mass of spacecraft. A calibration algorithm for the centroid of spacecraft which is in orbit. First is presented in this paper, simplifying static-accelerometer output, combined with angular acceleration and angular velocity that is calculated from GFSINS, estimate the parameters of the centroid of spacecraft using extended kalman filter. Finally, the simulation result are analyzed and discussed after numerical simulation.For the situation that the navigation of GFSINS is low, GFSINS/GPS/CCD integration is proposed. First, the system error of GFSINS is analysed, on this basis, the system error model of GFSINS is established, the subsystem state space model of the GFSINS/GPS integration and the GFSINS/CCD integration are established, a federated filter is designed using NR Structure. Finally, the simulation result are analyzed and discussed after numerical simulation.