Improved Algorithm Study Of SINS Based On FOG

SINS algorithms based on FOG is studied and developed with the researchful project “FOGSINS”. It aims to improve the accuracy for the whole strapdown system, also to solve the problemssuch as utilization of angular information from FOG,realization of algorithms in engineering. So thisthesis has great value in theory and engineering.The contents and main contributions are summarized as follows:1.The ability against coning error of several attitude algorithms in engineering is analyzed. Theresults show that rotation vector method with angle information has more algorithm’s error.2. A high efficient coning compensation algorithm is presented.According to the characteristic ofangular velocity signal from FOG and the principle of rotation vector,the new algorithm isdeduced.Theorical analyzation and simulation shows that the algorithm better others in accuracy andcomputing quantity and easier to realize in engineering.3. A improved strpdown system algorithm is developed.This algorithm including attitude coningerror compensation、velocity sculling error compensaton can be applied under the motion of highdynamics. The simulation results prove the attitude accuracy increase by the one order, the velocity、position average by11.8%, computing quanity shorter by5%.4. A software with the new strapdown algorithm is developed. Traditional strapdown algorithmsoftware is also developed in order to be compared. The experiment results show higher performance inaccuracy and computing time compared to traditional strapdown algorithm..