A full-scale simulator for research of navigation and filtering algorithms of a strapdown inertial navigation system using the Matlab-Simulink environment

Due to the increasing complexity of aircraft navigation equipment and the growing demands placed on them, there is a need to study and improve existing navigation and filtering algorithms by solving problems of developing full-scale research simulators. The article presents the results of work in the field of creating a full-scale simulator for research of navigation and filtering algorithms for a strapdown inertial navigation system (SINS) comprising: primary navigation data sensors made using microelectromechanical system technology (MEMS), servos and a navigation platform with two-degrees-of-freedom in roll and pitch. The article presents the features of the design, hardware and algorithmic implementation of the test rig taking into account the prospects for its development in terms of using the number of degrees of freedom of the platform (pitch, roll and yaw channels). The implemented principle of integrating the Simulink model of the control object is described. The control object consists of a controller based on the Arduino platform, a GPS sensor, a GY-91 sensor with an inertial measurement unit consisting of three orthogonally located: angular velocity meter, accelerometer and the single-channel barometer based on the MP280 MEMS. An algorithm for positional (manual) control of the navigation platform by pitch and roll angles using two servos, through a control stick and a virtual COM port is implemented. A diagram illustrating the logic of interaction of the structural elements of the simulator, a part of the software implementation of the complementary filter used, as well as the function of its calculation and simulation links of the Simulink model are presented. The information exchange between the PC and the Arduino microcontroller is considered. A conclusion was made about the feasibility of creating and using the developed simulator to justify the use of a particular navigation and filtering algorithm for a specific type of aircraft.

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