Abstract:

According to the marine’s mooring condition and the influence of the inertial elements bias on the navigation precision, a single-axis indexing scheme with four positions and the systematic error function are proposed . The analytic method which is used to analyse the observability of parameters directly is researched. The degree of observability for strapdown inertial navigation systems is computed in the context of resting and rotating inertial measurement units respectively with the spectral condition number theory, and the field estimation of inertial bias is achieved by the introduction of Kalman filter with the position loop isolation. Finally, numerical simulations show that the degree of observability for inertial bias can be improved effectively, and the estimation precision can also be improved greatly.