Research On Simulation Technique Of Integrated Navigation Based On INS Mechanization

Navigation algorithm verification and performance test of integrated navigation system is a complex and complicated system engineering.If the test is carried out directly by the physical object,it will lead to the long development cycle and high cost.The computer simulation technology can not only verify the principle and algorithm of integrated navigation,but also accurately evaluate the effect of an error on the navigation results,as well as the performance of the algorithm under the extreme cases.It is helpful to ensure the quality of navigation system and shorten the development cycle.In addition,the digital simulator has the advantages of high controllability,low cost and so on.In this case,this paper developed a set of digital integrated navigation simulator based on inertial navigation system mechanization(INS Mechanization),to meet the need of the development and validation of the navigation system.Firstly,this paper expounds the domestic and foreign development status of inertial navigation simulator,and studied the fundamental principle and method.Secondly,the existing problems(e.g.,trajectory smoothness/continuity,and additional vibration)in the mainstream simulator is pointed out.Then,a new simulation scheme based on INS Mechanization is proposed to solve the problems of trajectory smoothness/continuity.Followed by the program developed a digital simulator,which is based on two configure types such as user-defined trajectory and discrete trajectory files.The digital simulator has a series of functions,such as inertial data simulation,trajectory simulation.Finally,the integrated navigation simulator based on INS Mechanization is verified from the aspect of trajectory,closed-loop,sensor errors and navigation performance.The verification results show that the integrated navigation simulator based on INS Mechanization can effectively add vibration and swing motion,produce a smooth and accurate trajectory in a variety of motion simulation,ensure that the simulation trajectory closely conforms to the design documents.And it can accurately evaluate the influence factors of GNSS/SINS.It has important significance for the engineering realization of GNSS/SINS.