Research On Simulation And Verification Of Inertial Navigation Model For Long Marching

The inertial navigation system uses the sensor's sensitive output of the carrier to obtain the motion information,It has been widely applied to navigation equipment in various fields and has become one of the mainstream navigation methods because of its high accuracy and concealment.The inertial navigation system has high physical testing cost,large operation complexity,and difficult to reproduce the experimental process.Using virtual simulation technology to achieve this process can solve the above problems.When the carrier is running for a long time,the errors(component errors,interference errors,system errors,etc.)present in the inertial navigation system will be introduced into the system after calculation,accumulating and inducing severe drift of the navigation platform cumulatively over time,and reducing navigation accuracy.In order to solve the above problems,this paper studies the simulation technology of inertial navigation system for long navigation,and designs a set of inertial navigation simulation system.Firstly,the motion trajectory is simulated according to the rules and characteristics of the carrier motion.The carrier motion process is completed by using the trajectory,and the motion is g enerated.Parameters,as the data input of the simulation system,realize the carrier trajectory generator;Secondly,the inertial combination sensor of the inertial navigation system is simulated,the corresponding simulation output model is designed to complete the simulation process of the inertial device and the navigation of the inertial navigation system is studied and designed.The process was studied and a high-precision navigation algorithm was designed to complete the real-time solution of the attitude,velocity,and position of the carrier.Based on the above,The compensation algorithm was designed for a variety of interference errors(cone error,rowing error)introduced by carrier vibration.The design of navigation compensation algorithm was performed.Finally,various extreme conditions of motion were simulated.The accuracy of the algorithm in each part of the simulation system was tested.Based on the above research,this article uses the Microsoft Visual Studio development environment for the preparation of simulation programs,then uses of CAN bus communication equipment and high-speed Ethernet to complete the communication simulation system,and uses RTX embedded real-time systems to complete simulation synchronization and real-time control.In this paper,according to the simulation requirements,the corresponding CAN bus communication protocol and TCP/IP communication flow are designed;the corresponding real-time simulation control method and simulation flow are designed,and the real-time simulation function is completed;and a set of carrier trajectory motion simulation and inertial set are realized.The inertial navigation simulation system,which integrates simulation and long-time navigation simulation functions,provides a verification and operating environment for the long-time inertial navigation simulation process.Finally,the simulation system is used to complete the motion simulation process of the long-haul vehicle,and the accuracy of long-term navigation simulation is verified and analyzed,and the expected goal and accuracy are achieved.