A Stability-Constrained Attitude Error Compensation Framework for Strapdown Inertial Navigation System Design

Within modern naval architecture frameworks, the precise maneuvering of shipborne radars and electro-optical systems critically depends on accurate navigation data derived from local reference datum. Particularly for high-precision equipment, stringent requirements for attitude information accuracy must be met during cruise control phases. Current methodologies predominantly acquire initial heading and attitude data through transfer alignment with the ship’s master inertial navigation system (MINS), ensuring rapid system initialization. However, accurate estimation of local reference device errors during transfer alignment constitutes a pivotal challenge, while imposing rigorous standards for attitude error stability. Given the complexity of these requirements, conventional approaches relying solely on algorithmic optimization have proven insufficient to address practical transfer alignment demands. To resolve these challenges, this study establishes a rigorous mathematical model for attitude error stability through systematic derivation of attitude error equations based on strapdown inertial navigation mechanization. A comprehensive suite of simulation experiments validates the model’s efficacy and reliability. Results conclusively demonstrate that the proposed framework not only enables effective quantification of attitude error stability in navigation systems but also provides actionable guidance for forward design methodologies in strapdown inertial navigation system development