High-Precision Simulator for Strapdown Inertial Navigation Systems Based on Real Dynamics from GNSS and IMU Integration

摘要

Traditional Strapdown Inertial Navigation Systems (SINS) simulator based on pure mathematical model cannot reflect the reality of complex dynamics of a carrier. In this paper, based on the actual flight data of an airborne navigation system, navigation algorithms of high-precision carrier phase differences Global Navigation Satellite System (GNSS) and medium-precision Inertial Measurement Unit (IMU) are used, and combined with the partial feedback principle of Kalman filter and cubic spline interpolation method, to generate smooth trajectory parameters. Then, the simulation of inertial sensors is achieved with the inversed SINS algorithm, and the new algorithm considers the impacts of attitude coning error and velocity sculling error compensation. Numerical verifications of airborne flight test have demonstrated that the inertial sensor simulator has high accuracy and good frequency characteristic, and can meet the high-accuracy SINS requirements for simulated inertial sensor data source and frequency complexity.