SINS dynamic base transfer alignment method based on satellite positioning

Abstract

A SINS dynamic base transfer alignment method based on satellite positioning includes the following steps: (1) the baseline vector direction of the GPS dual-antenna is in accordance with the navigation direction of the SINS, wherein one antenna is positioned at a carrier and the other antenna is positioned at the sub-carrier of the SINS, a GPS dual-antenna Doppler observational equation is used to establish the observational equation of SINS dynamic base transfer alignment method, and the position and speed information received by the GPS receiver are used as the position and speed of the initial state SINS; (2) an attitude error equation and an speed error equation of the SINS are established and used as the error state equation of the alignment method; (3) a kalman filter is adopted for attitude error and speed error estimation; (4) the feedback correction on attitude and speed are carried out for the SINS, and the SINS output the attitude and speed information of the carrier to the user. The SINS dynamic base transfer alignment method based on satellite positioning has high processing speed, high accuracy, small computation quantity, strong fault tolerance and is not affected by the deflection deformation of the carrier.

Description

technical field [0001] The invention mainly relates to the field of strapdown inertial navigation systems, in particular to a method for aligning a moving base in a strapdown inertial navigation system. Background technique [0002] The Strapdown Inertial Navigation System (SINS) is a device based on Newton’s law that perceives the linear motion and angular motion of the motion carrier and calculates the position, speed, and attitude of the carrier. Interference, without time, place, and environmental restrictions, plays an irreplaceable role in autonomous navigation and positioning systems, so it is widely used in aerospace, aviation, navigation and other fields. The initial alignment is a process of determining the attitude relationship of the carrier coordinate system of the strapdown inertial navigation system relative to a certain reference coordinate system, while the transfer alignment refers to the use of a higher precision strapdown inertial navigation system (calle...

AI Technical Summary

Problems solved by technology

However, using the carrier phase and carrier phase difference as the observations in the existing research results, it is necessary to solve the ambiguity of the whole cycle and repair the cycle slip, which increases the complexity of the system implementation and has an adverse effect on the rapid alignment of SINS.

[0005] All in all, the current SINS moving base transfer alignment method based on GPS positioning technology has disadvantages such as large amount of calculation, long alignment time, high complexity, poor usability, etc., and it is difficult to meet the increasingly urgent high-precision, Quick Pass Alignment Requirements

Images