Research of the inertial navigation system

Abstract

The purpose of this work is to study methods and algorithms for improving the accuracy of a strapdown inertial navigation system (SINS) by correcting it using an optoelectronic system for orientation and navigation (OESON). Although SINS are fully autonomous systems, their main disadvantage is the accumulation of errors in determining coordinates and orientation over time. This research focuses on analyzing SINS error models and the mathematical foundations of OESON operation, which are based on LiDAR survey and "machine vision" methods. An increase in the accuracy of the navigation complex is achieved by synthesizing a compensation scheme based on a Kalman filter (KF), which processes the difference in the output data of both systems