| The gyroscope free strap-down inertial device/star sensor integrated navigation is basedon strap-down inertial device-based, and supplemented by attitude information that measuredfrom star sensor, then we comprehensive utilization both of the gyroscope free strap-downinertial device and the star sensor together to improve accuracy of the carrier navigation. Theadvantage of strap-down inertial navigation system is high data update, but the disadvantageis that the position error will increase with time. The star sensor is introduced, so that its errordoes not accumulate. Aiming at the features of high precision and long-endurance, wecombine the gyroscope free strap-down inertial device with star sensor. Using star sensorobserving stars with known orientation information to correct the inertial reference errors, wecan acquire an excellent combination of navigation system. The new system not only canrestrain the shortcomings of the inertial error, improve navigation accuracy, reduce costs, butalso adapt to the large dynamic range of the ship. The gyroscope free strap-down inertialdevice/star sensor integrated navigation system will be an inevitable trend in the future.Innovative research and work of the paper is as follows:(1) This paper introduces two kinds of nine accelerometers configuration scheme, afteranalyzing the basic principle of the gyroscope free strap-down inertial navigation system. Weinstall three vertical mutually accelerometers on the each carrier coordinate shaft, and theirdirections are coincident with three-dimensional coordinate system. The design scheme issimple and easy to install on the carrier. Using the solution of acceleration, angularacceleration or squared term, all the required parameters can be obtained.(2) The integration modes and error propagation characteristics of the integratednavigation system are analyzed. Then, study on the attitude algorithm method.(3) For the new integrated navigation system, this paper analyzes the integrated modes ofattitude errors based on information fusion technology, and then introduces the principle ofobservability analysis. Then simulate considerable measure and analysis of the considerablemeasure, which can be targeted to enhance system performance.(4) The integrated mode and principle of the new integrated navigation system arestudied. Unscented Kalman Filter is utilized to estimate error of navigation parameters andcorrect the feedback. Thus, accumulation of errors introduced by the inertial navigationsystem can be more effectively suppressed, so that could enhance the positioning accuracy ofthe navigation system. Finally, the simulation results of the low-cost the gyroscope free strap-down inertialdevice/star sensor integrated navigation system are compared and analyzed, some technicalproblems about the angular velocity solver are solved. The new integrated navigation systemlaid the theoretical foundation for engineering practice. |
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