A perturbation-approach error model derivation of local-level gimbaled INS to determine its oscillatory modes analytically

摘要

Error analysis of INS systems is a crucial issue in navigation problems. In this paper, the gimbaled INS is modeled, its navigation equations are written in the local level (navigation) frame, its analytic error model is derived using perturbation approach and its eigenvalues are calculated for the case of a stationary host vehicle to determine its oscillatory modes. The analytic resulted are verified by simulating the local-level gimbaled INS mechanization equations with noisy inputs and also by running Monte Carlo simulation showing that the analytically-derived oscillatory modes are apparent in simulation results.