Research On Optical Fiber Strandown Inertial Navigation System And Error Compensation

Because of the advantages of small size,light weight,high reliability and so on,strapdown inertial navigation systems(SINSs)have substituted platform inertial navigation systems(PINSs),which has become a trend of the inertial technology's development.At present,our country is in urgent need of strapdown inertial navigation systems with the characteristics of high precision,high dynamic,high reliability,non-affected by temperature,electromagnetic,vibration and other environmental factors.Therefore,the research on the related technology of strapdown inertial navigation systems is quite significant to the application of strapdown inertial navigation systems.Firstly,the basic principle of strapdown inertial navigation system is introduced in this thesis.On this basis,referring to the related advanced technology of strapdown inertial navigation system at home and abroad,the overall scheme of strapdown inertial navigation system is designed,including the design of navigation computer,the design of navigation software,the layout and simulation of navigation algorithm.Then,based on the overall design of strapdown inertial navigation system,we have designed and implemented the hardware modules and software modules of navigation computer.Based on the above technology,our team has developed a prototype of strapdown inertial navigation system,whose IMU consists of quartz accelerometer and fiber optic gyroscope.And the navigation test is carried out to verify the performance of the prototype.Finally,the traditional rotation vector four-sample coning algorithm is deduced,the error composition of the algorithm is studied and analyzed,and the conic truncation error of the algorithm was compensated by high-order error algorithm.The theoretical analysis and simulation results show that high-order compensation algorithm can effectively improve the navigation positioning and attitude measurement accuracy.The error model of quartz accelerometer and fiber optic gyroscope is studied and established,which can accurately identify the parameters of the error model.The rotation modulation technique is used to suppress the above error,which improves the positioning accuracy of the prototype.The research result in the thesis is valuable in engineering practice and significant in theory.