Research For Comprehensive Calibration Technique Of Strap-down Inertial Navigation System

As the sensor of the strap-down inertial navigation system is directly fixed on the carrier,when the carrier moving,especially in the adverse circumstances,can have a dynamic extremely serious error,the positioning accumulation error with time growth, cannot provide precise enough navigation and positioning for long time running. So the strap-down inertial navigation system equipment needs to be improved for the actual needs.In this paper, the strap-down inertial navigation system to make the correction combined mode, in order to improve the reliability and accuracy of navigation, and explored the method to reduce the system error accuracy, further improve the system positioning. This paper is divided into five chapters, mainly on the following four aspects of the content of expansion:Firstly, the paper analyses and explains the basic principle of the strap-down inertial navigation system, listing the basic equation and algorithm equation. According to various aspects of the strap-down inertial navigation system operation module block diagram for algorithm design; the error of system is analyzed, the column write error equation; and the inertial navigation system of the coarse, fine alignment design and simulation, the simulation block diagram of the program design, programming, simulation of inertial navigation system,and are analyzed,verified the correctness and usability of the program.Secondly, in-depth analysis of the correction method of two-point correction, three point and little school, analysis and computer simulation based on the error of these traditional comprehensive correction, the correction to the tradition not only external information demanding, and requires the ship speed straight, limiting the scope of use of comprehensive correction method, so it is necessary to study the ship can carry out comprehensive correction in arbitrary maneuvering state.Thirdly, put forward a combined Kalman comprehensive correction method,and the combined comprehensive correction to the design and analysis of verification. Analysis of simulation results, prove the correctness and applicability of this kind of combined comprehensive correction method, can be used as a vessel in arbitrary maneuvering state comprehensive correction using.Finally, based on the combined comprehensive correction to explore ways to further reduce the system error, the rotating strap-down inertial navigation system algorithm design and Simulation of a comprehensive correction,and analyzed, to ensure the correctness of the theory. There were the test of comprehensive correction method for static conditions,the strap-down inertial navigation system integrated practical correction scheme.