Design On Strapdown Inertial Navigation System And Analysis On Information Fusion Algorithm

The development of navigation is dependent on the traction demand and the driven of thetechnology. With the development of computer technology, inertial technology,microelectronics technology, micro-electro-mechanical technology, navigation has played anincreasingly important role in the plane control, satellite positioning, ship control, rocketflight control and vehicle motion control and has gradually become a multidisciplinaryintegrated application technology. With the deepening of the application of navigation, thestrapdown navigation that is directly installed on the vehicle is gradually replacingthe platform navigation and it uses "digital platforms" instead of traditional mechanicalplatform. The strapdown navigation which makes cost, volume, power consumption greatlyreduced is the direction of navigation. The current research hot spot of navigation is mainlyconcentrated on the high reliability, high precision, and low cost.Firstly, this paper introduced the system sensor measuring principle, basic performanceparameters, their error model and configuration. Then it introduced the coordinate system,attitude, navigation equation and some methods of initial alignment. Next, we presented thedesign idea, overall framework, software and hardware design and some problems wheninstalling system in detail. We also calibrated the navigation system from the component tothe system. Finally, with the combination of small unmanned aircraft model, we realized thekalman filtering algorithm. The function of kalman filtering algorithm in the attitude systemand the location system was analyzed especially. Some suggestions about the adjustmentof the process noise matrix and observation noise matrix were given.This paper designed a set of complete strapdown inertial navigation system. In order tomeet the requirements of low cost, high reliability and precision, we used the fault-tolerantprocessing mechanism in the data collection and communication. To get excellentperformance, we used GPS/INS integrated navigation to get better navigation parameter. Itlaid a good foundation for the control of the vector.