Simulation and Design of Strapdown Inertial Navigation System Based on RT-Lab/Simulink

摘要

According to engineering characteristics which are huge construction quantities, long design period and high real time requirement of strapdown inertial navigation system (SINS), this paper introduces simulation of SINS based on Simulink and structure design of SINS based on RT-Lab. And implemented real-time simulation for RT-Lab after double sample of rotation vector on quaternion is used to attitude updating algorithm and double sample of compensated sculling error is used to velocity updating algorithm. Simulation results show that simulation method which based on RT-Lab/Simulink easy to realize of SINS, and overcome bad real time capability when simulation only use Matlab and large amounts of computation,long period and big error when simulation use C code which based on hardware.