A rapid damping method for a marine strapdown INS

This paper proposes a rapid damping method to shorten the settling time of a marine strapdown inertial navigation system (INS). In this method, forward and backward processes for strapdown INS calculations, including attitude, velocity and position calculations, are deduced. High-order terms in the backward process for strapdown INS calculations are transformed into one-order differential equations, which can be programmed easily in a navigation computer. Using forward and backward processes to process the saved IMU data can allow the system to settle down rapidly. Thus the system settling time can be effectively shortened. Finally the simulation and trial results validate the performance of our proposed method. (C) 2016 Elsevier Ltd. All rights reserved.