Study of Independent Initial Alignment Based on Gyroscope Free Strapdown Inertial Navigation System

摘要

Conventional strapdown inertial navigation system is usually measured angular velocity with gyroscope and acceleration measuring a force signal with accelerometer for the initial alignment. GFSINS uses accelerometers that use the output from the ratio of force to solve the angular velocity instead of gyroscopes for the initial alignment. Based on a nine-accelerometer configuration and use of logarithmic algorithms give the solution of results of the acceleration and angular velocity, and analyze the principle of the initial alignment. In the static base, we analyze the initial alignment issues of GFSINS, use the kalman filter to reduce the accumulation of errors, and derive a kalman filter state equation and the prediction equation, at the same time do some simulations for the initial alignment.