The Rotating Inertial Navigation Technical Study

The laser gyro strapdown inertial navigation is a kind of inertial devices and the carrierand way,autonomous navigation system can provide attitude information continuously,with short-term precision and stability is very good,has been widely used in aerospace,navigation etc..The disadvantage is that due to the presence of inertial device errors,the navigation error will accumulate over time.The rotating sins is a new type of inertial navigation and developed on the basis of this,the equivalent inertial guide provides a set of rotating mechanism and angle measuring device for conventional sins,the ins once energized,the identification of different positions on the inertial components outputs of different characteristics to complete inertial device error parameters and in order to improve the inertial navigation accuracy.By using the self-developed rotating laser strapdown inertial navigation as the background,in-depth research,structural design and Simulation Analysis on the working principle and composition of IMU system,and the self calibration and self seeking north function design and other aspects.The research work mainly includes the following aspects:Firstly,the paper puts forward the overall plan of rotating laser strapdown inertial navigation,principle and structure of the rotating sins of the composition of the system analysis of rotating sins as principle,each functional circuit in the realization of the method was studied,and the inertial measurement unit(IMU)of the composition and selection of inertial devices at the same time.On the base of inertial device installation-platform was designed and analyzed by simulation to confirm its meet the requirements.Secondly,through the study of the relationship between the shock absorber damper,mathematical model of line frequency and angular frequency and the relationship between the resonant frequency and the angle of the shock absorber damping ratio,the design of the performance parameters of the damper and the inertial measurement unit in shock absorber structure.Then in order to achieve rotation sins self calibration and self seeking north function,through the error model and measurement model of inertial device design,self calibration and self seeking rotation mechanism of the North path planning,and puts forward the self calibration and evaluation of north seeking precision method.Finally,using self-developed rotating Laser Strapdown Inertial Navigation Engineering Verification of test,test results show that the inertial measurement unit is developed in the dynamic environment of angular velocity output and navigation accuracy to meet the demand of rotating laser sins self calibration under static and north seeking accuracy can meet the design requirements.