Research Of Algorithm For Gyroscope Free Strapdown Inertial Navigation System

With the rapid development of defense construction and national economic construction, the applications of inertial navigation become very popular and is widely applicable. Include aviation, spaceflight, navigation, missile, agriculture, vehicles and so on. As a very important direction of inertial navigation,GFSINS is catch more and more attention now. It is a measure unit of strap-down inertial navigation, which replaces a gyroscope with accelerometer and calculates angular speed from a measure shows. The system is good to inertial guidance of big dynamic state and short navigation time and has a lot of advantages, for example low cost and low achievement consume, longevity life etc. The accelerometers' composition used in this thesis is simple and have a good function. GFSINS has a very important value for study.In this paper, I introduced the system's configuration of hardware first. Compared with the other configuration schemes of accelerometers, the scheme we adopted is more reasonable and more simple and practical. All the algorithm's test are found on the base of this hardware. The main contents include an introduction of why the inertial navigation have to be use the several coordinate systems. Then declare the working principle of the GFSINS and the mathematical principle of why can acclerometers instead the gyroscope. And also derivate the accelerometer's outputs equation.Angular velocity is the most important aspect of the GFSINS. The calculation include the integral and the root method. This paper give a new method which can make up the deficiencies of other algorithms. Through the simulation of this new algorithm, we can improve the precision of the calculation. And this new method do not need to judge symbols and the measurement error is bounded. The inertial navigation system's ultimate purpose is to know the object's stance and position information. Then several strap-down matrix immediate correction methods are deduced and compared. This thesis chose the rotation vector method for the future high dynamic application environment. Then emphatically analyzed the installation's error and deduced the calculate formula, have a simulation analysis. At last, put forward the respectively according to installation location error's and installation azimuth error's calibration method, and also put the compensation method.