MATHEMATICAL MODEL OF ACCELEROMETER ERRORS STRAPDOWN INERTIAL NAVIGATION SYSTEM

Abstract

The article shows that the model errors of strapdown inertial navigation system (SINS) allows us to estimate the overall accuracy of SINS errors specified accelerometers and gyroscopes or solve the inverse problem — to formulate the requirements for inertial sensors, provided the specified accuracy SINS. There has been received SINS error model, which consists of equations of errors in determining the speed and coordinates of the object location. SINS error model is needed in the development of the Kalman filter to solve the problems of multi-SINS with other navigation devices. There has been shown the generalized block diagram form SINS errors in the determination of the object parameters, according to which the accuracy of determining the linear speed and coordinates of the location where the error affects the orientation and SINS error value depends on the dynamics of motion of the object.