Strapdown Inertial Measurement Unit For Parameters Identification And Verification

Strapdown inertial measurement device is an increasingly important position in themodern national defense industry, directly related to the development of the field ofnavigation.But by the impact of modern crafts and scientific technological level, there isalways a variety of deterministic and random errors in the state, and affect their workstatusaccuracy. Therefore, how to maximize the reduction of error of inertial componentsbecome the main direction and focus of research in the field of inertial navigation.This paper first introduces the inertial measurement unit current situation and trends atdomestic and international, and in-depth understanding of the theoretical basis of the inertialtest works for fiber optic gyroscope and quartz accelerometers, key performance indicatorsand error sources were analyzed and summarized. Detailed introduction the most commonlyused platform inertial navigation system works, advantages and disadvantages, andapplications. and contrast with strapdown inertial navigation system at last.Inertial component error model is established on the basis of analysis of the sources oferror and design position experiment rate experiments and zero experiment. Laboratorytriaxial turntable collected data using Matlab powerful data processing functions inertialelement of the scale factor, installation error angle and zero error performance indicators;understand this process in detail turntable the experimental calibration process issues anddifficulty. Compensation for random errors need to master them, and many experimentssummarized by Allan variance analysis the inertial element random error output curve.Navigation solver process detailed derivation of the basic equations of inertial navigationsystems, attitude updating algorithm and speed update algorithm. Fully understand theprinciple of solver and contrast the advantages and disadvantages of each algorithm solver,select the appropriate algorithm and design a Kalman filter using Matlab write the IMUoutput solution program.Compensation after the completion of the work, according to the error model parametersobtained in the calibration experiments, mainly including software simulation and sentinelnavigation verify. Departure from the program solver software simulation, and given a fixederror value to compare the size of the degree of influence determines the navigation solution,observing the error output; sentinel navigate the validation for the last static the verificationexperiment solver position, attitude (roll angle pitching angle, heading) and error, do anin-depth comparison for the inertial device before and after the compensation work accuracy and found that the effectiveness of the deterministic error compensation.