惯导系统的基本问题哈工大导航原理惯性技术课件.ppt

Lecture 5 -- Basic problems of INS In summary, such a basic inertial navigation system include * Accelerometers, which of course, are to measure accelerations of the vehicle. * Stabilized platform, which is to emulate, or simulate, the navigation reference frame, such as geographical frame. According the range and aim of navigation, the navigation reference frame might be chosen as other kind of frames, such as the inertial frame or the earth frame. * Then, we need integrators to do the job of integration. Nowadays, the integrators are usually implemented by software loaded in navigation computer. * Beside, there is the task of initial alignment, which means that at the beginning of the navigation, the initial position and velocity of the vehicle should be known as precisely as possible, and the platform should be aligned with the chosen navigation frame, say, the local geographical frame, as closely as possible. Next, let’s see a more simplified example of navigation, that is, the so-called single-axis navigation. Suppose that the vehicle is moving strictly in the north-south direction on the surface of the earth. And the spinning of the earth is neglected. Y and Z are the local north and vertical directions, and Yp and Zp are the platform axes that try to follow the local north Y and local vertical Z. Suppose the vehicle is moving from the south to the north. In this case, for the platform to follow the local level, it should rotate around the local east-west axis, and the rate of such rotation should depend on the north velocity of the vehicle. The faster the vehicle moves northward, the quicker should the platform rotate. For this purpose, an accelerometer and a gyroscope are installed on the platform. The sensitive axis of the accelerometer is along the Yp axis of the platform and the sensitive axis of the gyro is along the Xp axis of the platform, which ideally should coincide with the local east-west direction. The north acceleration measured by the accel