| Inertial navigation system uses the inertial sensor (including gyroscope and accelerometer) to measure the line motion and angular motion of vehicle movement relative to the inertial space. Then it can be obtained in vehicle real attitude, velocity and position information through integration. Inertial navigation system can establish standard vehicle motion reference coordinate system,besides it is well-known as a military application for completely autonomous and highly concealing navigation with current and continuous high frequency data, no limit for time and region. Its ability is to provide accurately all kinds of information (comprehensive) of vehicle movement. The rotation modulation technology belongs to error compensation which is employed to change the forms of sensitive sensors in navigation to compensate the navigation error, improves precision significantly. Based on independent development single-axis rotating FOG strapdown inertial navigation system,analyze rotation modulation technology from theory and engineering implementation. In order to further improve the precision of inertial navigation system, analyze the effects of rotation modulation caused by error sources of FOG strapdown inertial navigation system.The performance of the single-axis rotating FOG strapdown inertial navigation system has been tested comprehensive.The main works are as follows:Firstly, common coordinate frame of rotating FOG strapdown inertial navigation system and its conversion relation is expounded. The basic equations and error propagating equations of rotating FOG strapdown inertial navigation system are deduced.Secondly, the principle of auto-compensation is expounded on rotary FOG strapdown inertial navigation system. The effort of inertial sensor upon rotation modulation technology is analyzed on single-axis four-position rotary sequence. Besides, vehicle movement consists of complex linear motion and angular motion. The effort of vehicle linear motion and angle motion upon rotation modulation technology is analyzed.Design the parameters including the rotating angular rate, the rotation angular acceleration and stop time depending on the analysis on the error equation of the system in frequency domain. In the actual system, the effort of size effect, the sawtooth speed error,angle measuring error upon rotation modulation technology is analyzed and compensated. In order to achieve vehicle real attitude, the problem of data synchronization and output delay is analyzed.Finally, design the performance of the single-axis rotating FOG strapdown inertial navigation system to compete fundamental function test and application test experiment by independent research and development of optical fiber gyro inertial navigation system and single-axis turntable.The performance of the single-axis rotating FOG strapdown inertial navigation system has been tested comprehensive. Including static experiments, dynamic experiments, Songhua River mooring and sailing experiments, prepare for the engineering development of the single-axis rotating FOG strapdown inertial navigation system. |
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