Study on strapdown inertial navigation system ( sins ) the concept , process and the already done work of initial alignment of sins arc introduced briefly . for selecting coordinate and deriving the error model , presenting some kinds of coordinate in the inertial navigation system ( ins ) ; the initial alignment of sins theory is introduced in detail ; the linear error model of moving base initial alignment of sins is derived , including analysis in characteristic and influence of system error of inertial apparatus . 捷联惯导系统的研究:首先概要介绍了惯导系统的相关知识,阐述了捷联惯导系统的优点;分析了初始对准姿态确定的几种坐标系,为建模定义了坐标系选择和姿态矩阵;详细研究了捷联惯导系统的初始对准原理,推导并给出了捷联惯导系统动基座初始对准的误差方程,并分析了误差特性以及惯性仪表误差对系统误差的影响;
Initial alignment is one of the key technology of inertial navigation system . it directly influence the navigation performance of navigation system . because some random factors exist in the system , there are some difference between the precision of initial alignment and alignment time 初始对准是惯性导航系统的关键技术之一,它直接影响惯导系统的导航性能,由于系统中存在有各种随机因素,初始对准的精度和对准时间之间存在着矛盾,对准精度越高所需时间也越长。
The system error is mainly determined by sensor error and initial alignment error by analyzing the error transfer characteristic of the sins system . after compensating the sensor error , the precision of the whole system almost remains the initial alignment process . it should include of gyroscope and speedmeter to compensate the error 通过对sins系统的误差传播特性分析可以发现,系统的误差主要由传感器误差和初始对准误差决定,在对传感器误差进行补偿之后,整个系统的精度几乎就保持在初始对准的精度上;另外,在初始对准过程中还包含陀螺和加速度计的测漂和定标工作,以便进行误差补偿。
Different filtering methods have been tested to examine the effects of all kinds of filters . the correction of inertial sensor errors , navigation algorithm , coning motion , and sculling motion have also been investigated . based on the above works , the initial alignment on stationary base using imu with mdrlg has been carried out , and an usable navigation software has been completed 对机抖激光陀螺引起的高频振动的补偿方法进行了研究,对不同的滤波方法进行了试验;对机抖激光陀螺捷联系统的仪表误差补偿、导航解算算法、圆锥补偿算法和划桨效应补偿方法进行了研究;对静基座条件下机抖激光陀螺捷联惯导系统的初始对准方法进行了研究,编写了实用的导航软件。