摘 要
捷聯(lián)式慣性導(dǎo)航(strap-down inertial navigation) ，捷聯(lián)（strap-down）的英語原義是“捆綁”的意思。因此捷聯(lián)式慣性導(dǎo)航也就是將慣性測量元件（陀螺儀和加速度計(jì)）直接裝在飛行器這種需要諸如姿態(tài)、速度、航向等導(dǎo)航信息的主體上，用計(jì)算機(jī)把測量信號(hào)變換為導(dǎo)航參數(shù)的一種導(dǎo)航技術(shù)。它具有隱蔽性好，工作不受氣象條件和人為的外界干擾等一系列的優(yōu)點(diǎn)，這些優(yōu)點(diǎn)使得慣性導(dǎo)航在航天、航空、航海和測量上都得到了廣泛的運(yùn)用。但是，不管慣性器件的精度多高，由于陀螺漂移和加速度計(jì)的誤差隨時(shí)間逐漸積累，慣導(dǎo)系統(tǒng)長時(shí)間運(yùn)行必將導(dǎo)致客觀的積累誤差，因此，人們在不斷探索提高自主式慣導(dǎo)系統(tǒng)的精度外，還在尋求引入外部信息，形成組合式導(dǎo)航系統(tǒng)，這也成為了當(dāng)代導(dǎo)航技術(shù)發(fā)展的一個(gè)趨勢。本文主要分析了平臺(tái)式慣性導(dǎo)航系統(tǒng)，捷聯(lián)式慣性導(dǎo)航系統(tǒng)，組合式慣性導(dǎo)航系統(tǒng)的原理，組成，以及發(fā)展趨勢，并在最后對于導(dǎo)航系統(tǒng)的未來做了展望。
關(guān)鍵詞：捷聯(lián)式慣性導(dǎo)航系統(tǒng)，平臺(tái)式慣性導(dǎo)航系統(tǒng)，組合式慣性導(dǎo)航系統(tǒng)
















strap-down inertial navigation system analysis
Author:CHEN Zhuang
Tutor:LI Ji-fang
Abstract
Strapdown inertial navigation ( strap-down inertial navigation ), strapdown (strap-down) English original meaning is" tied". Therefore the strapdown inertial navigation is the inertial measurement unit ( gyroscopes and accelerometers ) is directly installed on the aircraft that need such as attitude, velocity, heading navigation information such as subject, use the computer measurement signal for navigation parameters of a navigation technology. It has good concealment, work is not affected by meteorological conditions and human interference and a series of advantages, these advantages make the inertial navigation in the aerospace, aviation, navigation and measurement have been widely used. However, no matter how high precision of inertial device, because the gyro drift and accelerometer error with time gradually accumulate, inertial navigation system operation for a long time will lead to objective accumulation error, therefore, people constantly explore to improve autonomous navigation system precision, is also seeking the introduction of external information, to form a combined navigation system, it has become a trend in the development of navigation technology. This paper mainly analyzes the platform inertial navigation system, inertial navigation system, a combined inertial navigation system of the principle, composition, as well as the development trend, and finally for the future of the navigation system.

Key words: Strap-down inertial navigation system, Platform inertial navigation system, Combination Inertial navigation system


目錄
1 緒論 - 1 -
1.1 慣性導(dǎo)航概述 - 1 -
1.2導(dǎo)航及其分類 - 2 -
1.2.1 導(dǎo)航基本概念及功能 - 2 -
1.2.2 導(dǎo)航系統(tǒng)的類型 - 3 -
1.3慣性導(dǎo)航系統(tǒng)的基本組成和簡要原理 - 5 -
2.慣性元件 - 7 -
2.1 陀螺原理及慣性導(dǎo)航中的陀螺儀 - 7 -
2.1.1 定義 - 7 -
2.1.2 基本特性 - 8 -
2.1.3 發(fā)展概況 - 8 -
2.1.4 常用坐標(biāo)系簡介 - 9 -
2.2加速度計(jì) - 10 -
2.3.1概述 - 10 -
2.3.2陀螺穩(wěn)定平臺(tái)的基本原理 - 11 -
3.平臺(tái)式慣性導(dǎo)航系統(tǒng)原理 - 12 -
3．1平臺(tái)式慣性導(dǎo)航系統(tǒng)的概述 - 12 -
3.2 各類型平臺(tái)式慣性導(dǎo)航系統(tǒng)原理 - 12 -
4.捷聯(lián)式慣性導(dǎo)航系統(tǒng) - 15 -
4.1概述 - 15 -
4.1.1 捷聯(lián)式慣性導(dǎo)航系統(tǒng)簡介 - 15 -
4.2 工作原理及特點(diǎn) - 16 -
4.2．1 工作原理 - 16 -
4.2.2 捷聯(lián)式慣導(dǎo)系統(tǒng)的分類 - 18 -
4.2.3捷聯(lián)慣導(dǎo)系統(tǒng)的精度 - 18 -
4.3 簡單介紹使用新型陀螺儀的捷聯(lián)導(dǎo)航系統(tǒng) - 19 -
4.3.1 用靜電陀螺儀的捷聯(lián)式系統(tǒng) - 19 -
4.3.2 用環(huán)形激光陀螺儀的捷聯(lián)式慣導(dǎo)系統(tǒng) - 19 -
4.3.3 用光纖陀螺儀的捷聯(lián)式慣導(dǎo)系統(tǒng) - 20 -
4.4 捷聯(lián)式慣性導(dǎo)航系統(tǒng)與平臺(tái)式慣性導(dǎo)航系統(tǒng)的比較 - 20 -
4.5 捷聯(lián)式慣性導(dǎo)航系統(tǒng)的前景 - 21 -
5.組合導(dǎo)航系統(tǒng) - 23 -
5.1 組合導(dǎo)航基本概念 - 23 -
5.2組合導(dǎo)航系統(tǒng)實(shí)例 - 23 -
5.3 慣性導(dǎo)航系統(tǒng)（INS）基本原理 5.3.1 INS原理 - 24 -
6．心得體會(huì) - 29 -
結(jié)論 - 33 -
致 謝 - 34 -
參考文獻(xiàn) - 35 -