Studying Zupt Correction Mode for a Strapdown Inertial Navigation System of the Ground Moving Object

A method to improve an accuracy of functioning of a strapdown inertial navigation system installed onboard the ground moving object is studied. Generally, drifts of the vector angular velocity meter and displacements of the vector linear angular accelerometer (i.e., intrinsic perturbations of the meters) are the source of errors of functioning of a strapdown inertial navigation system. The discussed method is known in literature as a mode of ZUPT (zero velocity update) consisting in updates of errors of the meters (first of all intrinsic errors of the vector meter of angular velocity) during the object motion and their compensation at the expense of periodic short-time stops of the object. Two ZUPT variants are considered. In the first variant, the intrinsic drifts of the vector angular-velocity meter and the angle of azimuth are assessed, in the second variant, only intrinsic drifts are estimated. Based on the developed mathematical models for the main modes of functioning of the strapdown inertial navigation system (initial alignment and navigation), the mathematical description of the two ZUPT-mode variants is derived and the appropriate algorithmic solutions are offered, which allow the errors of the vector angular-velocity meter to be determined and compensated after the mode is performed.

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