New error model of strapdown inertial navigation system and used on moving bases

A new error model of strapdown inertial navigation system (SINS) and the optimal maneuver of vehicles in-flight alignment had been studied on moving bases. Using the Lyapunov transformation, an easy for the characteristic analysis of SINS error model was proposed on moving bases, and the equivalence of SINS and gimbaled inertial navigation system (GINS) error model was discussed. By means of the observability analysis theory of piece-wise constant system (PWCS) and the singular value decomposition method, the observability of SINS in-flight alignment was deeply studied and thoroughly analyzed under various maneuvers, and the influence of various maneuvers on the observability degree of SINS states were quantificationally carried out. The research results demonstrate that the dive-round-roll maneuver is the optimal maneuver manner for initial alignment of SINS on moving bases, and the computer simulation results illustrate the validity of this maneuver. These can provide the academic reference for studying the fast and accuracy alignment method of SINS on moving bases.