Study of the Positioning Errors in a Bidimensional Horizontal Strap-Down Inertial Navigator Generated by the Inertial Sensors

摘要

The paper deals with the study of the influence of the inertial sensors errors on the position, speed and attitude of a bidimensional strap-down inertial navigation system in a horizontal plane. To test this influence we put up MATLAB/SIMULINK models for the acceleration and rotation sensors based on the sensors data sheets and on the IEEE equivalent models for the inertial sensors. The models can be used in the numerical simulation of the strap-down inertial navigation system, close by real conditions from the point of view of the distortions suffered by the useful acceleration and rotation signals at the passing through any type of accelerometers or gyros desired to be implemented in the navigator. These models have the advantage to work independent from each of the sensors' errors and thus to study their influence on the inertial navigator.