The Research Of Inertial Navigation System Adaptability Based On Underwater Vehicle Space Motion

High accuracy inertial navigation system (INS) which is inspired by inertial components may produce vibration error, constant steady-state error and time accumulated error. Without any external source and not reducing independency, if damping technology is adopted in the system, it can weak period vibration error and navigation positioning error caused by gyro random drift, improving navigation system precision effectively. As a result of applying damping technology, eliciting adaptability of carrier is introduced into INS. So how to design reasonably and perfect damping technology has most important practicality and researching meaning, which can improve motion adaptability of carrier and then improve the navigation positioning precision of INS.Take the INS used in underwater vehicle as research object, to the target of higher potential INS carrier used for sports performance, the thesis studies on the state switch criterion, multi-damping coefficient and state switching overshoot error suppression technique, and builds the submersible-based INS simulator space movement. All these have been verified in simulation.Through analyzing existing INS programs and carrying out space motion of submersible adaptiveness analysis, adaptability of INS carrier movement and the importance of the technology have been put forward. Furthermore, for the special needs of submersible application, the thesis is on the basic of submersible six degrees of freedom model, and builds practical mathematical model affected by marine environment such as wind, wave, current and other factors, and space-based movement of submersible INS error simulation system. Simulation environment has been provided to solve the problem of INS motion adaptiveness, and the functional correctness has been verified by submersible manipulation simulation. Aiming at the occurrence of criterion lag during the process of INS state transition, by studying of the corresponding relationship between submersible space manipulation information and motion features, the methods that submersible manipulation information as a INS state transition criterion has put forward first, which can solve the state switching delay problem of INS. State transition for the INS in the ever-present existing overshoot errors, by analyzing moments of gyro before and after state transition, the method which can compensate gyro angular rate information at switching time and inhibited state transition overshoot errors is first proposed. Aiming at periodic oscillations error of the earth for 24-hour suppression problem, multi-azimuth damped INS program has been proposed first. In order to be adapted to submersible space motion much better, damp network design job of multi-azimuth damping coefficient with three orders has been carried out.This thesis achieves design criterions of state transition, overshoot error inhibition and multi-directional damping design. Based on constructing errors of INS simulation system, the correctness of design schemes has been verified. Verification results show that the research working plays an important role in the promotion of improving the potential of the carrier motion adaptiveness for submersible INS.