Overall Attitude Inertial Navigation Method Based On PINS/SINS Hybrid Inertial Navigation System

SINS have advantages of low price,low power consumption,simple structure,high reliability and overall attitude working condition.But the dynamic errors of accelerometers connected with angle speed are motivated while the system is runing,getting rid of angle motion form the base.But its disadvantages include high price,high power consumption,complicated structure,low reliability.Moreover,the frames will restrict its attitude control.To take the advantange,overcoming the disadvantage at the same time,a research named Overall Attitude Inertial Navigation Method Based on PlNS/SINS Hybrid Inertial Navigation System is put forward.Based on kinematics of a particle,several commom navigation equations are deduced,which can be used by both SINS and PINS.And then,a kind of unified inertial navigation method is put forward,which adapts to any navigation coordinates;its navigation equation,mechanical arrangement and error analysis are given at the same time.Further more,the validity of the equation is demonstrated by navigation experiment of PINS,SINS as well as combinatorial navigation.Different kinds of INS are introduced,including SINS,PINS and hybrid INS.Based on dynamic character of high speed rotated missile,SINS/GPS and one stable axis/GPS aerial alignment are put forward,demonstrated by simulation experiments.A scheme of one stable axile system is provided,making used of MEMS-IMU,designing the stabilized loop with the help of simulation software.Two aerial alignments are compared,highlighting the merits of one stable axile system.Kinematics and Dynamics of four axile platform systems are deduced,and then three kinds of attitude control strategies are recommended.To realize overall attitude control,outer frame's axis is controlled while both inner frame angle and outer frame angle are too large,adopting strategies C.In this way,Kinematics and Dynamics of four axile platform systems are extended.Then decoupling method is designed,which is demonstrated by simulation.To eliminate the second order disturb moments of four axile platform systems effectively,bow trigonal spherical net shell frame and double polar axile spherical net shell frame are designed.The stiffness and strength of bow trigonal spherical net shell frame is demonstrated via software simulations,including statics analysis and modal analysis.By calculating inertia tensor of two designed models,it demonstrates the success of both frame schemes.Moreover,there is an exhibition of double polar axile spherical net shell frame model.