Comparison of Different Computation Methods for Strapdown Inertial Navigation Systems
Mohamed S. Ahmed,
Danilo V. Æuk
A series of numerical experiments were conducted to test three different methods
for solving the SDINS navigation equations: Runge-Kutta method, Runge-Kutta
method with sampling process and three speed navigation algorithms. A stochastic
numerical simulator, which solves the navigation equations in navigation frame
by using the given functions of Euler’s angles and velocity components as
inputs, is proposed to simulate the IMU sensors output. The generated angular
body rates and specific force were inputs to the three integration methods. For
the case when the sensors outputs are contaminated by white noise the obtained
results shows that the ratio of the absolute error by navigation algorithm to
the absolute error obtained by Runge-Kutta sampling method is reduced compared
to the same quantity without the noise.
Key words: navigation system, inertial
navigation, numerical methods, Runge-Kutta method.