Non-Exchangeable Error Compensation for Strapdown Inertial Navigation System in High Dynamic Environment

摘要

Strapdown non-exchangeable error compensation technology in high dynamic environment is one of the key technologies of strapdown inertial navigation system. Mathematical platform is used in strapdown inertial navigation system instead of physical platform in traditional platform inertial navigation system, which improves reliability and reduces cost and volume of system. The maximum error source of attitude matrix solution is the non-exchangeable error of rotation due to the non-exchangeable of finite rotation of rigid bodies. The rotation non-exchangeable error reaches the maximum in coning motion, although it can be reduced by shortening the correction period and increasing the real-time calculation. The equivalent rotation vector method is used to modify the attitude to reduce the coning error in this paper. Simulation experiments show that the equivalent rotation vector method can effectively suppress the non-exchangeable error and improve the accuracy of attitude calculation.