On the basis of deep research of its working principal , basic algorithm and error spread character , the gyro constant drift , acceleration zero error and constant initiation error of static pedestal strapdown inertial navigation system are quantitatively analyzed . furthermore with the medium precision inertial navigation device as the simulation object , we made some mathematical simulation 详细研究了捷联式惯性导航系统的工作原理、基本算法和误差传播特性；对静基座条件下捷联惯导系统中陀螺常值漂移、加速度计常值零位误差和常值初始条件误差引起的系统误差进行了定量分析；以中等精度的惯性器件构成捷联惯导系统作为仿真对象，进行了数字仿真。
The method that increases the attitude accuracy of strapdown inertial attitude and heading reference system ( siahrs ) with the infromation from inertial measurement unit ( imu ) its own is studied . according to the design idea of damping network in platform type , damping kalman filter in siahrs is designed to enhance the attitude accuracy via integrating attitude calculated by common siahrs and that estimated by accelerometers . in order to evaluate the effectiveness of damping attitude , the vehicle ' s movement should be detected in real - time . for this reason , the state chi - square test is employed in the damping kalman filter , and the failure detection vector are tested , which improves the sensitivity and reliability of failure detection . finally , static and dynamic experiments of actual system demonstrate the effectiveness of the proposed method 本文探讨了如何利用惯性测量组合本身的信息来提高捷联航姿系统的姿态精度.根据平台式阻尼网络的思想,设计了捷联式内阻尼卡尔曼滤波器,将惯导系统捷联解算获得的姿态与加速度计估计的姿态进行组合,在系统非加速度状态下,提高了姿态输出的精度.为了实时监测系统的运动状态从而判断内阻尼姿态的有效性,本文成功将状态2检验法应用在内阻尼卡尔曼滤波器中,设计了基于2个状态传播器的故障监测器,并通过对故障检测向量元素的检验代替对整个向量的检验,提高了故障监测的灵敏度和可靠性.最后,实际系统的动静态实验验证了本文所提出的方法的有效性
With widespread use of application inertial navigation , people pay more and more attention to high accuracy and fast initial alignment . the paper - ' study and simulate on moving base initial alignment of strapdown inertial navigation system ( sins ) " , study systematically and all - around the design and realization moving base initial alignment of sins , some further research is done for application of kalman filter in initial alignment , observability and its degree 本文《捷联惯导系统动基座初始对准研究与仿真》 ，较为系统和全面的研究了捷联式惯导系统动基座的初始对准，并对卡尔曼滤波在初始对准中的应用，系统可观测性和可观测度的分析方法和仿真进行了较深入的研究。
This paper starts with the error model of sins , studies deeply for the demand of gyrocompass theory , and builds an initial alignment mathematics model , then design the arithmetic and control flow , following the initial alignment mathematics model , chose the control parameters properly , following the auto control theory 理论上,由捷联式惯导系统误差模型开始,结合罗经对准原理,建立罗经对准数学模型。在此基础上,设计算法和控制流程,并依据控制理论选择适当的控制参数。
A piece - wise constant system ( pwcs ) method and singular value decomposition method of observability matrix of a dynamic system is proposed . and the good effect is achieved for analyzing observability and its degree of strapdown inertial navigation systems in initial alignment stage . through the computer simulation for different maneuver trajectories of the carrier in initkil alignment stage , obtain some important results 本文对捷联式惯导系统动基座初始对准这种时变系统，研究和分析了pwcs (分段线性定常系统)方法来判断系统的可观测性，奇异值分解的分析方法判断系统各状态的可观测度，并通过大量的仿真实验，验证了这两种方法，得出了一些重要信息。
First this thesis discusses the development of the virtual instrument , and the method of developing the real time software ; then designs a interrupted virtual driver , deduces and programs the realtime arithmetic of wanderazimuth strapdown inertial navigation , develops strapdown inertial navigation realtime software based virtual instrument with object - oriented programming language . the software is able to display multi navigation parameter and is able to be added the extensible function 论文讨论了虚拟仪器技术的发展与现状，研究了windows98平台下实时性软件的设计方法，设计了基于硬件的中断虚拟驱动程序，推导和编程实现了游移方位坐标系捷联式惯性导航系统计算机实时导航算法，利用面向对象的可视化开发语言开发出基于虚拟仪器的捷联式惯性导航实时软件。该软件能够显示多个惯性导航参数，具有故障报警显示功能，根据需要可以增加新的显示功能。
With the development inertial instruments , fog has advanced and fits for the application of strapdown navigation . aimed at a practical engineering project , the paper completes the design and realization of fog strapdown navigation system based on dsp . the paper first generalizes basic principle and the mathematics model of strapdown navigation 随着惯性仪器、仪表技术的发展，光纤陀螺仪结构简单，性能稳定性显著提高，以及其成本低，体积小，重量轻等优点，使其尤其适合捷联式惯性导航系统的应用。
The test result demonstrates that the real - time data processing system can satisfy the request of high precision , rapid speed , high reliability of the sins , make the sins having great value of application , better future of market and great significance of military 测试结果表明，以dsp cpld作为导航计算机硬件平台的捷联式惯性导航实时数据处理系统能够满足系统所要求达到的高精度、实时性、稳定性要求，使捷联式惯性导航系统具有更好的应用价值、市场前景和军事意义。
A kind of quick high precision sins combined alignment algorithm on fixed base was deduced in this paper , and the error model and measurement model were described . the observability of the system was analyzed with pwcs theory , and it is shown that the system is completely observable . the validity of the algorithm is proved by simulation 本文提出了一种快速、高精度的捷联式惯性导航系统静基座组合对准的方法，推导了捷联式惯性导航系统静基座组合对准的误差方程和量测方程，并采用pwcs理论对该系统进行了可观测性分析，证明该系统是完全可观测的。
