Abstract:

The strapdown inertial navigation system (SINS) has so many dynamic errors that it is difficult for the conventional zero-velocity update (ZUPT) method to achieve the desired results. Making use of the condition that the sideways and vertical velocity of the normal running vehicle is zero, taking the installation errors of SINS into consideration, the ZUPT method aided by velocity constraint is deduced. The 2 h vehicular navigation experiment is implemented, and the results show that the fiber-optic gyro SINS can achieve the level and vertical positioning accuracy of better than 10 m by 10 min interval stopping. The method can estimate the installation errors, inertial sensor errors and initial azimuth errors accurately, so it has strong engineering practicality.