AUTONOMOUS NAVIGATION SYSTEM

摘要

An inertial navigation system utilizing a servo-controlled two-degree of freedom pendulum to obtain specific force components in the locally level coordinate system. The pendulum includes a leveling gyroscope and an azimuth gyroscope supported on a two-gimbal system. The specific force components in the locally level coordinate system are converted to components in the geographical coordinate system by means of a single Euler transformation. The standard navigation equations are solved to determine longitudinal and lateral velocities. Finally, vehicle position is determined by a further integration.