Research On Algorithm For Laser Gyroscope SINS

With the domestic laser gyro technology matures, the research and application of lasergyro Strapdown Inertial Navigation System (SINS) has been in constant depth. Given thehuge demand of the domestic aviation, aerospace, marine, and other fields for the high-precision autonomous navigation system, and there is a certain deficient part of the technicalstudy of laser gyro SINS in high dynamic environment, this paper has made more detailedresearches and designs around the laser gyroscope stochastic error characteristic analysis,modeling and compensation, the initial alignment of the laser gyro SINS, the navigationsolution algorithm in the high dynamic environment and every subsystem softwaredevelopment.(1) Contrary to the collected laser gyroscope data exist outliers and other interference,the part put forward a method of laser gyro stochastic error signal analysis, modeling andcompensation. Information fusion method using wavelet analysis is used to complete theanalysis of the raw data, reconstruction and pretreatment. We select the method of DynamicData System (DDS) to establish a suitable Auto-Regressive and Moving Average (ARMA)Model, establish the system state space model by its coefficient, through the method ofKalman filter to compensate the actual measured data. Finally, we identification and analysisthe results of the data before and after the filter compensated through the Allan variancemethod. The results show that the modeling、filter and compensating effect of laser gyro datais obvious, so this program can effectively reduce disturb of stochastic error source andimprove the precision of data.(2) Against the traditional analytic formula coarse alignment cannot work out a morereasonable misalignment angle in the base shaking dramatic case, so this paper uses a methodof coarse alignment based on inertial coordination solidification to implement the movingbase alignment. On this basis, this part establishes the system state space model of finealignment and makes a thorough study in fine alignment under the inertial coordination. Thesimulation results demonstrate that this program is able to meet the initial alignmentorientation accuracy requirements of the airborne SINS.(3) By comparing the advantages and disadvantages of the traditional attitude updatingalgorithm and the rotation vector algorithm, consider the impact of high dynamic environment,and conduct depth analysis the three sub-sample rotation vector algorithm and its optimizedalgorithm. The sculling and rotational effects are taken into account in the velocity updatealgorithm, then research the sculling of three sub-sample algorithm and its optimization. The scroll effect is considered in the location update algorithm, and it derives the three sub-samplecompensation algorithms of scroll effect. Finally, it respectively compares and analysis thesimulation results of navigation solution algorithms. The simulation results show that the conemovement, the scull movement and scroll movement affect seriously navigation accuracy, butmore than a sub-sample compensation algorithm and its optimized compensation algorithmare able to improve the interference error of the body in the harsh sailing conditions.(4) The design of laser gyro SINS software. Based on previous research, the design ofthe entire system algorithm implemented in software architecture and processes, and the useof simple, universal C#language completes the programming. Run results are consistent withthe results of algorithm simulation, to provide convenience to the measured data analysis andalgorithm validation.This paper has made depth researches contrary to the key technical problems of airbornelaser gyro SINS in the implementation, data processing program, the simulation results andthe software running results are correct, look forward to be able to play a reference role inthe engineering implement of laser gyro SINS.