DIFFERENTIAL ERROR EQUATIONS FOR AN AIDED STRAPDOWN INERTIAL NAVIGATION SYSTEM FUNCTIONING IN THE NORMAL GEOGRAPHICAL REFERENCE FRAME.DERIVATION, ANALYTIC INVESTIGATION AND SIMULATION RESULTS

摘要

In this paper, derivation, analysis and the results of research of linear and nonlinear differential equations of errors of autonomous INS, functioning in the normal geographical coordinate frame, are considered. Analytical solutions of linear differential error equations are derived for situations when an object moves along the equator, along the parallel circle and for the case of a nonmoving object. Derived error equations have been numerically modeled, by the means of developed software, for situations when the object moves along the equator, along the meridian, and for the cases of nonmoving object and vertical flight.