Modell av ett Skrovfast Troeghetsnavigeringssytem (Model of a Strapdown Inertial Navigation System).

摘要

This thesis is mainly focused on the modeling and simulation of a three-dimensional strapdown inertial navigation system. It constitutes the thesis which conclude the education to computer engineer at the University College in Kalmar. The introduction describes inertial navigation in general and the technique of strapdown inertial systems. Thereafter, the different coordinate systems used in the thesis. The transformation between the reference systems are also treated here. The main effort in this work has been to derive and express the continuous time navigation equations in a local geographic navigation reference frame and also the corresponding model for the error growth in the states of the navigation equations (positions, attitude and heading angles and velocity of the navigating system). Finally the simulation environment which has been implemented in MATLAB and SIMULINK is described. It consists of trajectory generation and sensor data generation which is used as input to the navigation equations. The error equations is forced by sensor noise. Simulation results from simple straight and level flight are presented mainly for verification purposes.