Calculation of Uncertainties in Operating Strapdown Inertial Navigation Systems on Mobile Objects
Svetlana Vasilievna Ponomareva, V. S. Kutuzova, A. A. Pavlovich · Journal of Machinery Manufacture and Reliability · 2020
Abstract The calculation of errors of the main elements of algorithms in the operation of a strapdown inertial navigation system on moving objects is undertaken. Four coordinate systems have been treated, in which the necessary equations for the projections of vectors on the axis of coordinate systems have been obtained for their further use in the construction of system algorithms. The transition matrices for different coordinate systems are compiled, and the dependences of these systems on each other are obtained. When determining the speed of a moving object, the equations of the orientation errors of the object have been compiled. Errors in the operational algorithms of a strapdown inertial navigation system have been simulated, which consist of errors in determining the speeds, coordinates, and orientation of an object. A structural diagram of the navigation system is compiled demonstrating the formation of errors. It is shown that the errors considered depend on the accuracy of the sensitive elements—gyroscopes and accelerometers. A relationship between the specified accuracy of the navigation system and the requirements for the accuracy of sensitive elements is revealed.