Research of INS Simulation Technique Based on UnderWater Vehicle Motion Model

Considering the dynamic error of platform inertial navigation system (INS) caused by vehicle mobile movement, output information of underwater vehicle and input information of INS are deeply analyzed. This paper gives the transform relationship among geographical reference frame, fixed and reference frame which are used to describe movement of underwater vehicle. Then, logical join between vehicle movement output information and INSpsilas input calculation information are established so that INS can get the navigation system close to actual underwater vehicle motion, thus vehicle movement was reflected actual. Computer simulation shows that the join between vehicle and INS is correct. This is a good method for the movement adaptability examination of INS.