Abstract

The paper studies the problem of reducing the errors of heading and pitch/roll angles for a strapdown inertial navigation system (SINS) based on fiber-optic gyroscopes (FOG) during a vessel maneuvering. The solution of the problem is analyzed mainly for autonomous mode of the system operation using the water speed log data. A specific feature of the studied solution is that the gyro drifts and accelerometer biases are estimated only during the vessel maneuvering. In this case, an attribute is formed for the vessel’s maneuver start. The results of simulation, test-bench and field tests of the SINS on FOGs of navigation accuracy grade during the vessel maneuvering are presented, with the data of the system’s measurement unit, GNSS-receiver and log having been processed in MATLAB (Simulink) software, taking into account the simulation of ocean currents and vessel drift.

中文翻译：

---

通过操纵提高船舶自主SINS的精度

摘要

本文研究了在船舶操纵过程中减少基于光纤陀螺仪（FOG）的捷联惯性导航系统（SINS）的航向和俯仰/横滚角误差的问题。该问题的解决方案主要使用水速日志数据分析系统运行的自主模式。所研究解决方案的一个特定特征是，仅在船舶操纵期间才估计陀螺仪漂移和加速度计偏差。在这种情况下，将为船只的操纵开始形成一个属性。给出了在船舶操纵过程中，SINS在导航精度等级的FOG上进行的仿真，试验台测试和现场测试的结果，并在MATLAB（Simulink）软件中处理了系统的测量单位，GNSS接收器和日志的数据，