Research and Design of PINS Simulator Based on UnderWater Vehicle Space Model

Vehicle mobile movement can cause dynamic error of the platform inertial navigation system (PINS) which is widely used in underwater vehicle. Taking PINS as the research object, the space motion mathematical models of underwater vehicle are analyzed and established by reasonable simply. Through coordinate transformation relationship research of the fixed coordinate system, the moving coordinate system and the local present coordinate system, the underwater vehicle actual space motion can be embedded in the PINS. It can provide PINS the input information which contain the east and north acceleration real-timely by controlling vehicle motion and get the navigation which is more close to underwater actual motion. Thus the whole PHINS simulator based on underwater vehicle motion model are realized. Computer simulation result show the embedded method is right and the PINS simulator can realized the actual simulation well. This is a new good method for the movement adaptability examination of INS.