交互式捷联惯导仿真系统的设计与实现

Design and implementation of interactive strap-down inertial navigation simulation system

捷联式惯导系统在军事领域应用广泛,为便于对捷联惯导算法及各种组合导航算法进行研究,设计了一套捷联惯导仿真系统。系统基于模块化思想设计,包括运动状态建模、轨迹仿真模块、惯性器件仿真模块和惯导解算模块4部分,具有良好的可移植性和拓展性;系统采用图形交互界面,实时操控载体的运动状态,能便捷、高效的生成各种运动轨迹;利用等效旋转矢量算法对仿真数据进行了解算分析,仿真实验结果表明:解算的姿态、速度和位置误差与理论值相符,验证了仿真模型的合理性以及仿真系统的可用性。

Strap-down inertial navigation system（SINS）is widely used in military field,to facilitate the study of SINS algorithms and various coupled navigation algorithms,a simulation system of SINS is designed.Based on modular design,with good portability and expansibility,the system consists of four independent modules：analysis module of motion state,trajectory simulator,IMU simulation module and SINS calculation module.With graphical interface,the system can control every motion state of the trajectory,which is convenient to generate various trajectories efficiently.Using rotation vector attitude algorithm to process simulation data,experiment results show that the attitude,velocity and position error is consistent with the theoretical value,which verifies the rationality of the simulation model and the availability of the simulation system.