Error Compensation Algorithm Of SINS Based On Multi-sample Optimization

The attitude algorithm of the strapdown inertial navigation system(SINS)directly affects the navigation accuracy.When carrier works in the dynamic environment,the system produces dynamic error in the process of system calculating.For example,line vibration and angular vibration of a carrier can cause system to produce coning error,sculling error and scrolling error,which reduces the precision of system.It is particularly important to design and optimize the strapdown inertial navigation system error compensation algorithm to reduce the dynamic error,and improve the system accuracy.This paper researches dynamic error caused by carrier mobility,and improves the system algorithm accuracy by compensating error.This article summarizes the development status of the strapdown inertial navigation system,researches the error and model of inertial devices and analyzes generating mechanism of three kinds of dynamic error,namely,coning error,sculling error and scrolling error.Through the design and optimization of the corresponding error compensation algorithm to reduce the effect on the system precision.Based on the traditional cone error compensation algorithm,designing two kinds of extension algorithm and three new iteration algorithms.The principle is minimizing the coning error.In the cone environment,optimizing the algorithm and realizing simulation.The conclusion is when comparing the new optimization algorithm with traditional compensation algorithm,the new algorithm not only can improve the accuracy,but in low dynamic,random angle motion and regular precession environment the algorithm retained its optimal performance.Based on the traditional sculling error compensation algorithm,designing two extension algorithms and two new algorithms.Under the condition of the sculling movement,optimizing the algorithm and realizing the simulation analysis.By comparing with the traditional compensation algorithm,the feasibility of new sculling error compensation algorithm is verified.Based on traditional scrolling error compensation algorithm,designing a kind of extension algorithm and a new algorithm.In the sculling environment,realizing the algorithm simulation and analyzing the algorithm drift.It is concluded that for scrolling error compensation algorithm,although whose compensation effect is not better than the coning error and sculling error,when the carrier is used in high dynamic environment or the occasionwhich needs particularly high navigation accuracy,scrolling error compensation algorithm should be considered to ensure the navigation precision.Finally,using the three kinds of five-sample algorithm in the same system and analyzing the simulation results,which verify the feasibility of the three algorithms used in one system and can achieve high accuracy.This paper analyzing the dynamic error caused by carrier mobility and designing compensation algorithm,which is improved and optimized.Then based on the optimization algorithm,giving its environmental adaptation.The conclusions provide theory reference for engineering application.