Strapdown Inertial Navigation Systems (SINS) have advantage of simplified construction, modular design, low cost and less life cycle support as compared to navigation systems that employee gimbaled platforms. This paper presents full mathematical modeling and simulation of a typical SINS system starting from modeling of IMU errors and generation of IMU output for a known reference trajectory. While considering the output of IMU as the input for SINS, the IMU data is solved while employing determination of quaternion rate differential equations to reconstruct the original trajectory. Finally coupling of vertical channel is performed with barometric 3rd order damping loop to minimize error in the vertical direction. Moreover, selection of appropriate damping loop gains is performed on the basis of comparison of errors calculated in vertical direction against each set of loop gains.
SINS Integration with Baro-Inertial Vertical Channel Damping for Error Optimization
Lect. Notes Electrical Eng.
2021-10-30
17 pages
Article/Chapter (Book)
Electronic Resource
English
Baro-inertial Altitude Accuracy Improvement for GPS Monitoring and Integration
British Library Conference Proceedings | 1994
|