Inertial Navigation System Standardized Software Development. Volume II. INS Survey and Analytical Development.

摘要

Section I of this volume provides a summary of the navigation computations for seven aircraft inertial navigation systems (INS): four of the INS are local vertical systems (north slaved, wander azimuth and free azimuth); one INS is space stable; and the remaining two are strapdown. Section 2 presents the detailed navigation and attitude equations, applicable to any of the aforementioned INS, using both local vertical wander azimuth (LVWA) and space stable computational frames. The LVWA frame is selected for the development of standard navigation algorithms using a standardized notation and symbology. The baseline algorithm is similar to that used in several existing moderate accuracy, local vertical, aircraft INS. Section 3 summarizes the INS computations. Section 4 provides a survey of the use of INS computations by other avionics subsystems, with particular reference to the parameters, formats, data rates, and accuracy requirements. Section 5 presents the tradeoffs leading to the selection of the LVWA computational frame for the standard algorithm. Section 6 (and Appendix A) present the standardized symbology and frame definition employed in the standard algorithms and simulator development.