Accuracy Enhancement in Determination of Angular Orientation of Vessels Using Strapdown Inertial Navigation System

摘要

To ensure continued reliable and safe marine navigation it is necessary, among other things, on board a vessel to determine the angular position of vessel with high accuracy. On board of vessel the calculation of these angles is more difficult than determining the position coordinates of vessel under widespread use of satellite navigation. One known method of accuracy enhancement in determination of the angular orientation of vessel is to use the Kalman filter to estimate strapdown inertial navigation system's (SDINS) gyroscope and accelerometer errors, as well as initial alignment errors of inertial system.