The Research of Inertial Navigation System Based on Submarine Space Motion

Taking submarine platform inertial navigation system (PINS) as the research object, the space motion mathematical models of submarine are analyzed and established. Then according to the submarine symmetry and submarine motion characteristics, the model is reasonably simplified by theoretical and experiences study. Through coordinate transformation relationship research of the fixed coordinate system, the moving coordinate system and the local present coordinate system, the submarine actual space motion is embedded in inertial navigation system. It can provide INS the input information - the east acceleration and north acceleration real-timely by controlling submarine motion and get the navigation information which more close to submarine actual motion. The result of computer simulation shows that this embedded method is right. It is a good new method for the INS performance examination of submarine, moreover, it can provide theoretical design reference and basis for others navigation system testing.