Simulation Analysis And Dynamic Test Method Of Inertial Navigation System Error Characteristic

Inertial navigation is an autonomous closed navigation and positioning means that can provide the speed, location and attitude information of the carrier in real time. With the rapid development of computer technology, the strapdown inertial navigation system based on computerized matrix and simulated geography coordinate system is developing rapidly, and gradually replaced the old platform inertial navigation system. However, the SINS system still has the same problem as the platform inertial navigation system, that is, the initial error calibration and compensation problem. The inertia measurement element error is the main source of error of the inertial navigation system.Therefore, the calibration and compensation of the error parameters of the inertial measurement element will directly affect the accuracy of the inertial navigation system. Based on this, this paper mainly carried out the following aspects of research work:(1) According to the error propagation characteristics of strapdown inertial navigation system, the influence of gyro drift on system error is analyzed. The effect of gyro drift on the system error is divergent by long time simulation experiment, mostly oscillating error and constrained by the gyro drift size.(2) The calibration technology of the inertial navigation system is studied, and the discrete calibration and system calibration are introduced respectively. The advantages and disadvantages of the two methods are analyzed. In this paper, a system-level calibration method is used to calibrate the gyro successive start-up. By means of the calibration result and the compensated attitude error, the calibration accuracy of this method is high, the calibration method is simple and the calibration time is short.(3) In this paper, MEMS gyroscope is used as an example to study the random error of gyroscope. Through the comparison of several analytical methods, the random error of gyroscope is analyzed and analyzed by Allan variance method in IEEE standard. The feasibility of Allan variance analysis is used to analyze the stochastic error of MEMS gyroscope by experimental analysis.(4) This paper presents a method to test the precision of the fiber-optic strapdown inertial navigation system (SINS) in the practical engineering application. In this paper, the method of static internal consistency, static external coincidence, dynamic internal consistency and dynamic accuracy measurement is proposed. Detection accuracy is high, to meet the optical fiber strap SINS precision detection requirements.