The Study to The Data Processing of STRAP-DOWN Inertial Navigation System

• Main Authors: Lin, Sheng-jen, 林勝仁
• Other Authors: Sung Jen-tan, Lee Tai-shen
• Format: Others
• Language: zh-TW
• Published: 1996
• Online Access: http://ndltd.ncl.edu.tw/handle/39809648559243842162

碩士 === 國立海洋大學 === 航運技術研究所 === 84 === Usually, the ships need accurate position and dynamic attitude for long range navigation and high performance applications, such as, the naval ships installed a fire control reference system, oil platforms and subvehicles require high position determination systems.Inertial Navigation System (INS) can provide those navigation and ship attitude message automatically. The phical INS in our institute is a self- contained complete system that outputs the velocity, heading and attitude datas. This INS can be combined with GPS to reduce the drift of INS through a aided software algorithm.In this thesis, we build an azimuth axis accelerometer with existing SAGEM TYPE 42 Heading and Attitude Reference INS. Developing a counter data I/O software in order to process 12 channels inertial instruments raw data during a real time period. An important Local Level Navigation Algorithm is a main structure for processing complete navigation and attitude computation.Finally, the whole Hardware and Software is tested on the Two Axes Turn Table for instruments error analysis purpose. To evaluate the navigation performance of INS, the system is simulated the ship motion by Turn Table. The contribution of this thesis is to establish the foundation of future Aided GPS/INS System research.