Integration technique of stable sighting/inertial navigation system for land vehicle

Combining with the characteristics of the stable sighting system and the north-finding system,the integration of the stable sighting and the inertial navigation system (SS-INS) for land vehicle is studied,and the operating principle and the design of the SS-INS are presented.Gyros and accelerometers are fixed on a stabilized platform to form an inertial measurement unit(IMU),in which the platform can randomly turnaround in azimuth and level.The IMU provides signals for the stable sighting system (i.e.the servo-gimbal driving system) and the navigation system.By resolving the attitude matrix of the moving platform while the stabilized sight is pointing at a target,and obtaining the vehicle attitude matrix with taking use of the gimbal's rotation angle,the components of the vehicle acceleration in the navigation coordinate system are obtained,and eventually the track-reckoning is accomplished.The experiment results show that the design of corresponding initial alignment and navigation algorithm are correct and practical.