面向对象设计在捷联惯导算法仿真中的应用

Application of Object Oriented Programming Design in Strapdown Inertial Navigation Algorithm Simulation

针对捷联惯导系统(SINS)的算法设计,介绍了SINS的姿态、速度和位置基本微分方程组;以解捷联惯导一阶微分方程组的算法仿真为例,提出了基于面向对象程序设计中类的概念和运算符重载的功能,设计了捷联惯导算法的四阶龙格-库塔数值解法;该设计为工程实现中直接求解含标量、向量和矩阵等混合形式的一阶微分方程组的数值解提供了一定的参考价值;仿真结果表明:即使对恶劣的纯锥运动,该算法精度也很高。

The attitude, velocity and position differential equations of Strapdown Inertial Navigation System （SINS） for the design of SINS algorithm were introduced. Taking digital algorithm for strapdown inertial navigation differential equations as a example, a programming method was presented to solve the first order differential equations wilh the concept of object oriented programming design and its operator over loading function, further more, the Runge-Kutta four digital formula for strapdown inertial navigation was designed, The design can directly solve the first order differential equations which include a mixture of scalar equations, vector equations and matrix equations, so the design can provide some helpful references for project. The result of simulation shows that the algorithm is a higher accuracy even if there is a bad eoning motion.