The inertial navigation system is divided into the platform inertial navigation system, the strapdown inertial navigation system ( SINS).
Platform inertial navigation: three axis gyro stabilized platform, accelerometer fixed on the platform, the sensitive axis is parallel to the platform axis, and the three stable axis of the platform simulates a navigation coordinate system. The structure is complex, the volume is large and the production cost is high.
Strapdown inertial navigation: stable platform, accelerometer and gyroscope directly mounted on the carrier, the real-time calculation of attitude matrix in computer (attitude updating solution), which calculates the relationship between the carrier coordinates and navigation coordinate system, thus the carrier coordinates of the accelerometer information into navigation coordinate system information then, the navigation calculation. With the advantages of high reliability, strong function, light weight, low cost, high accuracy and flexible use, SINS has become the mainstream of the development of inertial navigation system nowadays.
Attitude updating algorithm is the key algorithm of sins. The traditional attitude update algorithm has Euler angle method, directional Yu Xianfa and four element method. The four element algorithm is simple and small in computation, so it is often used in engineering practice.
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