Simulation and Design of Strapdown Inertial Navigation System Based on RT-Lab/Simulink

Author

Song, Lijun ; Qin, Yongyuan ; Yang, Pengxiang

Author_Institution

Coll. of Autom., Northwestern Polyteclinical Univ., Xi´´an, China

Volume

4

fYear

2009

fDate

21-22 May 2009

Firstpage

57

Lastpage

60

Abstract

According to engineering characteristics which are huge construction quantities, long design period and high real time requirement of strapdown inertial navigation system (SINS), this paper introduces simulation of SINS based on Simulink and structure design of SINS based on RT-Lab. And implemented real-time simulation for RT-Lab after double sample of rotation vector on quaternion is used to attitude updating algorithm and double sample of compensated sculling error is used to velocity updating algorithm. Simulation results show that simulation method which based on RT-Lab/Simulink easy to realize of SINS, and overcome bad real time capability when simulation only use Matlab and large amounts of computation,long period and big error when simulation use C code which based on hardware.

Keywords

aerospace computing; digital simulation; inertial navigation; mathematics computing; C code; Matlab; RT-Lab/Simulink; attitude updating algorithm; quaternion; real-time simulation; rotation vector; sculling error; strapdown inertial navigation system; structure design; velocity updating algorithm; Computational modeling; Frequency; Hardware; Inertial navigation; Mathematical model; Object oriented modeling; Position measurement; Quaternions; Real time systems; Silicon compounds; Quaternion; RT-Lab/Simulink; Strapdown Inertial Navigation System (SINS); equivalent rotation; sculling effect;

fLanguage

English

Publisher

ieee

Conference_Titel

Information and Computing Science, 2009. ICIC '09. Second International Conference on

Conference_Location

Manchester

Print_ISBN

978-0-7695-3634-7

Type

conf

DOI

10.1109/ICIC.2009.323

Filename

5169123