Combined Inertial Navigation System Single-axis Module Implementation And Research On System Navigation Algorithm

Inertial Navigation System(INS)is an autonomous navigation technology,which does not need to rely on the outside world,and does not radiate signals outwards.Since its characteristics of high precision,and strong concealment,it has been widespread concerned.At present,INS high precision and light miniaturization characteristics are a pair of contradictions,and it is a hot topic to seek the solution of contradiction.Rotation modulation is a kind of error self-compensation technology for inertial devices that rises in recent years.It plays a significant role in improving sensor accuracy and reducing the volume of INS.At present,the modulation of traditional single-axis rotating Inertial Navigation System is not complete enough,and the system accuracy is not high enough.The multi-axis rotating INS is complex and bulky,which is difficult to realize.Modularized combination of single-axis rotating modulation system can achieve system-level three-axis modulation by the combination of three single-axis module,eventually improve the measurement accuracy,and also achieve a system of light miniaturization.However,at present,the algorithm platform of the traditional inertial navigation system is totally different from the modular combination modulation Inertial navigation system,and the algorithm platform of the modular combination modulation inertial Navigation System is more complicated.In response to this problem,this thesis has done some work in theoretical analysis,algorithm design,simulation and other aspects:1?The error model of single-axis modulation module is derived.According to this theoretical model,the demodulation and compensation algorithm,especially for the error caused by rotation in the demodulation process is designed.2?The algorithm of modularized combined rotary modulation inertial navigation system is designed.The design of modular combination algorithm,system calibration method,attitude angle solution and navigation algorithm.3?Verify the single-axis modulation module prototype experimental.The error of the single-axis rotation modulation module on the two-axis sensor is verified by experiments.The error model of the single-axis modulation module is obtained experimentally,which provides the theoretical model for the subsequent system simulation.4?Realize the simulation platform of modularized combined single-axis rotary modulation inertial navigation system.Based on the experimental verification of the single-axis modulation module,the simulation platform of the whole system is built according to the experimental single-axis module error model.Through the comparison of static and dynamic simulation,it is proved that the modularized combined rotary modulation Inertial Navigation System is more accurate than the traditional Inertial Navigation System by an order of magnitude.Finally,according to the experimental results of the single-axis modulation module and the simulation result of the modular system,some suggestions for future system optimization are put forward.