Analysis of Laser Gyro Strap-down Inertial Navigation System for its Self-Navigation and Integrated-Navigation Experiments in the Static State

Abstract

In this paper, the test for the laser gyro strap-down inertial navigation system is studied. The self-navigation and the integrated navigation are introduced. By comparing the measuring results with the real data, the accuracy for the integrated-navigation is obtained. The errors for the head, the roll and the pitch are 11.16′′, 3.52′′, 2.08′′, for the location is 0.13m. In the same way, the accuracy for the self-navigation is obtained. The errors for the head, the roll and the pitch are 15.17′′, 3.74′′, 5.22′′, for the location is 0.56m. As a result, we can find that the accuracy for the integrated navigation is better than the self-navigation, however they both agree well with the designing results. Introduction The laser gyro strap-down inertial navigation system has a lot of merits, such as high accuracy, short start-up time, and so on [1-4]. In the recent years, with the development of this technique, its application is more and more widely. Before the laser gyro strap-down inertial navigation system ploughed into use, several important tests need to be done first, including static test, dynamic test, and the electromagnetic compatibility test [5-8]. This paper presents the static test of the laser gyro strap-down inertial navigation system both in the self-navigation and the integrated navigation. By comparing the measuring results with the real data, the accuracy for the integrated-navigation is obtained. Navigation test. To obtain the navigation accuracy of the system in the static state, the self-navigation and the integrated navigation are considered. (1)The integrated navigation test Firstly the stance data for the vessel are measured by the system, the roll-, pitchand heading angle are obtained. By comparing the measuring results with the real data, the error of the rollpitchand heading for the integrated-navigation is obtained, which are shown in Fig. 1. 4th International Conference on Machinery, Materials and Computing Technology (ICMMCT 2016) © 2016. The authors Published by Atlantis Press 21 Fig.1. The error of the rollpitchand heading for the integrated-navigation. Secondly, the position data for the vessel are also measured by the system, the error of the position is shown in Fig. 2. From Fig. 2 we can see that the error is smaller than 1.5m, so the position accuracy is very high. Fig. 2. The error of the position between the system and the GPS in the integrated-navigation test. To see more clearly, we selected a data every 30 min between the whole test. The results are shown in table 1. Table 1 The sample of the rollpitchand heading error for the integrated-navigation Time (h) Pitch error (′′) Roll error (′′) Heading error (′′) 1.0 -0.83 -1.87 6.59 1.5 -1.91 -3.28 1.97 2.0 2.05 2.92 -25.11 2.5 1.59 3.78 0.49 3.0 -2.18 -2.08 -0.01 3.5 -2.34 -2.90 -10.22 4.0 1.47 4.18 -13.35 4.5 2.07 3.50 -10.77 5.0 -2.19 -3.96 -8.80 5.5 -1.42 -1.56 -10.33 6.0 1.16 2.69 -1.98