Research on generalized inertial navigation system damping technology based on dual-model mean

Abstract

In order to solve the problem of the traditional damping method of navy inertial navigation system (INS) being a failure in high-maneuver applications there exists an overshoot when damping state of INS changed. A generalized damping algorithm based on dual-model mean is proposed in this paper. Two INS calculation loops are established, based on the INS arrange equations. These two loops calculate the same data of gyros and accelerometers dependently and at the same time. Insertion of certain data in one of the loops causes a phase difference between the two loops. Then the mean of the two loops’ outputs is regarded as the system output so that the Schuler oscillation errors of INS can be suppressed. The output expression based on the dual-model damping algorithm is deduced. The damping effect of the method and the advantages and deficiency of the algorithm are analyzed theoretically. In order to verify the validity of the algorithm, simulation experiments are carried out. Simulation results show that this algorithm can suppress the Schuler oscillation error effectively irrespective of the vehicle being mobilized or not. And there does not exist overshoot errors.