Abstract:

In order to satisfy the requirement of high-accuracy navigation and invisibility, based on platform rotating, the undamped method for the inertial measurement unit (IMU) error estimation of the submarine inertial navigation system is designed. Firstly, the impact of state transform on INS is analyzed. Secondly, based on Laplace transform, the impact of IMU error on azimuth rotating INS is analyzed. Thirdly, based on Schuler and platform rotating oscillation, intermittent external references are acquired to establish the INS short-time velocity and position model, then the uncertainty evaluation is given. Finally, an IMU error is estimated based on Kalman filter. Simulation results indicate that the velocity and position model has a high credibility; although real-time demand cannot be satisfied, a accurate estimation for IMU errors is given, the position errors are restrained effectively, and the navigation precision is improved.