Cascade Compensation Algorithm for Strapdown Inertial Navigation System

The cascade compensation algorithm for no damp strapdown inertial navigation system (SINS) is designed based on control model and error characteristic of SINS level-loop. According to stability and frequency characteristic analysis for SINS level-loop, a compensation network, which is chosen to alter either the roots location or the frequency response of the system, is cascaded with the SINS level-loop to damp the oscillatory or accumulated errors. The network parameters are attained by designing the frequency characteristic using frequency domain performance indexes, which are transformed from the expected time domain indexes. The algorithm implementation of the compensator is competed by solving the first-order differential equations set, which is derived from Laplace transform of the compensation network using intermediate variables. Results of digital simulation and test on sea proved that the system attitude accuracy improved 1 order and the system position accuracy improved 1 time when the compensation network was cascaded into SINS.