Strap-down inertial navigation transfer alignment algorithm parallel implementation method

Abstract

The invention discloses a strap-down inertial navigation transfer alignment algorithm parallel implementation method. A primary binding module, a globe related parameter calculating module, a sub inertial navigation system navigation calculating module, a filter parameter calculating module, a Kalman filter module and an alignment output module are adopted in the method; the primary binding module receives data information of a first frame main inertial navigation system, and the data information is subjected to compensating calculation and then used as an initial value of initial alignment navigation calculation of a sub inertial navigation system; the globe related parameter calculating module, the sub inertial navigation system navigation calculating module, the filter parameter calculating module and the Kalman filter module form a fine alignment process of transfer alignment, and the fine alignment process is circularly executed till reaching the set cycle times; and the alignment output module performs one-time correction on the attitude information of the sub inertial navigation system after the fine alignment process is finished, and outputs attitude, speed and position initial values required by navigation calculation of the sub inertial navigation system. By the method, the calculation velocity of the strap-down inertial navigation transfer alignment algorithm is quickened, and the alignment precision of transfer alignment is improved.

Description

technical field [0001] The invention belongs to the field of strapdown inertial navigation, and in particular relates to a parallel implementation method of a transfer alignment algorithm of a strapdown inertial navigation system. Background technique [0002] In order to meet the needs of modern warfare, tactical missiles have developed into increasingly important medium-scale strike weapons. At the same time, with the development of war, the requirements for the reaction speed and hit accuracy of tactical missiles are getting higher and higher. Tactical missiles are generally launched by carriers, and generally use inertial guidance and optical and electronic terminal guidance. Before the missile is launched, the initialization of the missile-borne strapdown inertial navigation system is usually completed by transfer alignment. The deflection deformation of the wing and aircraft structure and the installation error of the sub-inertial navigation make the binding value inc...

AI Technical Summary

Problems solved by technology

[0006] In order to solve the problem that the operation rate of the traditional serial strapdown inertial navigation transfer alignment algorithm is difficult to effectively improve, the present invention provides an FPGA-based strapdown inertial navigation transfer alignment parallel implementation method, which modularizes the transfer alignment algorithm , each module is designed in parallel, and designed and implemented on a single FPGA, which greatly speeds up the calculation speed of the strapdown inertial navigation transfer alignment algorithm and improves the accuracy of the transfer alignment

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