船用捷联式惯性导航仿真系统设计及研究

针对船用捷联式惯性导航系统长时间工作后,精度明显下降,不能满足导航需求的问题,设计了一种模块化的船用捷联式惯性导航仿真系统,并进行了仿真研究。将船用捷联惯导设计为四个模块,分别为轨迹仿真模块、惯性器件仿真模块、导航解算模块和误差分析模块。利用建立的模型,仿真分析捷联式惯性导航系统姿态角、速度和位置误差的主要特性,研究天向速度的发散对东向和北向速度误差的影响,探究初始对准误差对导航精度的影响。结果表明,仿真系统可以很好的模拟舰船捷联式惯性导航系统的初始对准和导航过程；天向速度的发散和初始对准的精度都会直接影响导航精度。因此,在舰船长时间航行时,必须提高初始对准精度且引入阻尼系统,以减小船用捷联式惯性导航系统的导航误差。

Research and Design of Strapdown Inertial Navigation Simulation System in Ship

Aiming at the problem that precision of Strapdown Inertial Navigation System is obviously reduced and can not meet the demand of navigation, the ship SINS is designed and simulated. The ship SINS is designed as four modules, which are the ship SINS trajectory module, the IMU module, the navigation computation module and the error module. Based on the established model, the main characteristics of attitude, velocity and position error of SINS are simulated and analyzed. The results show that the simulation system can simulate the initial alignment and navigation process of the ship SINS. The accuracy of the divergence and initial alignment of the astronomical velocity will directly affect the navigation accuracy. Therefore, it is necessary to improve the initial alignment precision and introduce the damping system to reduce the navigation error of the ship SINS when the ship is sailing for a long time.