Abstract

The calculation of errors of the main elements of algorithms in the operation of a strapdown inertial navigation system on moving objects is undertaken. Four coordinate systems have been treated, in which the necessary equations for the projections of vectors on the axis of coordinate systems have been obtained for their further use in the construction of system algorithms. The transition matrices for different coordinate systems are compiled, and the dependences of these systems on each other are obtained. When determining the speed of a moving object, the equations of the orientation errors of the object have been compiled. Errors in the operational algorithms of a strapdown inertial navigation system have been simulated, which consist of errors in determining the speeds, coordinates, and orientation of an object. A structural diagram of the navigation system is compiled demonstrating the formation of errors. It is shown that the errors considered depend on the accuracy of the sensitive elements—gyroscopes and accelerometers. A relationship between the specified accuracy of the navigation system and the requirements for the accuracy of sensitive elements is revealed.

中文翻译：

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可移动物体捷联惯性导航系统不确定度的计算

摘要

对在移动物体上的捷联惯性导航系统的操作进行算法主要元素的误差计算。已经处理了四个坐标系，其中获得了矢量在坐标系轴上的投影的必要方程式，以将其进一步用于构建系统算法。编译不同坐标系的过渡矩阵，并获得这些系统之间的依赖关系。在确定运动物体的速度时，已经对物体的定向误差方程进行了编译。模拟了捷联惯性导航系统操作算法中的错误，其中包括确定对象的速度，坐标和方向时的错误。汇编了导航系统的结构图，演示了错误的形成。结果表明，所考虑的误差取决于灵敏元件（陀螺仪和加速度计）的精度。揭示了导航系统的指定精度与敏感元素精度要求之间的关系。