The Research Of Rotational Strapdown Intertial Navigation System Technology

Since the emergence of optical gyro, automatic compensation of the rotation and inertial navigation technology based on the emergence of a new navigation system, It is the rotating inertial navigation system.Such inertial navigation system is equivalent to the sins of the outside agencies and with rotational angle measurement device, also used the navigation solution SINS algorithm. Modulation technique is the use of rotating rotating mechanism can not improve the accuracy of the device under the increased accuracy of inertial navigation system, and the system will not increase the cost very high, so the inertial technologies into domestic and foreign scholars to study the hot issue. This paper developed the fiber optic gyroscope strapdown inertial system as the background, the focus of two-axis rotating SINS error sources, sixteen proposed program and the initial rotation order of biaxial alignment technique and the estimated drift techniques.Firstly, the sins of the basic principle of rotation described the structure of sins, in the ideal case, that there is only gyro drift and accelerometer bias, the analysis axis rotation SINS Error of the basic principles of modulation.Secondly, the order of biaxial translocation sixteen, and analyzed the translocation program error axis suppression principle. And analyze the translocation program's main source of error. In the ideal case, there is only constant inertial drift error, but in the actual system, there are inertial sensor calibration error, installation error and some other error factors. This scale factor of the device and installation error analysis and simulation experiments. After the introduction of other sources of error on the rotating system of SINS.Biaxial rotation SINS initial alignment technique is proposed under the base of a rocking fast initial alignment technology, the ways of data processing cycle significantly reduced alignment time. Alignment accuracy and the initial alignment with the traditional combination of very. Body axis shifted by modulation of sins, the two axes of rotation can significantly enhance the observability of system parameters, the use of Kalman filtering technique to achieve inertial bias in the system and the rapid estimation Amended to achieve high estimation accuracy.Finally, based on previous theoretical analysis, design, engineering validation experiment. Developed by using laboratory FOG SINS, the error modulation axis turntable experiments, compared to the same static test results under the experimental equipment and the error modulation experiments, theoretical analysis of the results of verification.