Developing of Strapdown Inertial Attitude System

The work is devoted to the development of mathematical and algorithmic support for determining attitude parameters that can be used in the synthesis of algorithmic and software for high-precision strapdown inertial navigation system. The main principles of construction of modern strapdown inertial systems are considered. Types of kinematic parameters of attitude of moving objects and methods of their numerical integration were analyzed. Promising high-precision methods of integration of Poisson’s matrix equation and Bortz’s vector equation are given. The strapdown inertial attitude system information model was built, aimed at working with real signals of the measurement module of the navigation system. The software algorithm contains sets of procedures for calibrating the output signals of the inertial measurement unit, calculating the initial value of the directional cosine matrix, and calculating the object orientation parameters by numerical integration using the Picard method. The information model confirmed adequate operation and sufficient accuracy when working on a stationary base and during dynamic movement.