Serial inertial navigation vacuum filtering correction method based on specific force observation

Abstract

A serial inertial navigation vacuum filtering correction method based on specific force observation comprises eight steps of 1 determining initial position parameters of a carrier; 2 collecting output data of a serial inertial navigation system; 3 processing the collected output data and completing coarse alignment of the inertial navigation system; 4 performing fine alignment after the completion of the coarse alignment; 5 rotating the projection of the carrier around a pitching shaft on the horizontal plane from a horizontal position to a vertical position, wherein the rotation time and the rotation angle depend on conditions; 6 keeping the carrier to be static at a second vertical position to perform zero-velocity correction and course correction; 7 immediately entering the flying process after two position alignment is completed, and utilizing information of an accelerometer to perform vacuum correction on Kalman filtering when the navigation calculating height is larger than 85km; and 8 enabling an inertial group to enter the late-middle period, considering the carrier to go out of a vacuum section when the navigation calculating height is smaller than 85km, wherein no vacuum filtering correction exists at this time, but correction on device errors can be continuously performed continued with prophase results. The serial inertial navigation vacuum filtering correction method based on the specific force observation has practical value in the inertial navigation field.

Description

(1) Technical field: [0001] The invention relates to a strapdown inertial navigation vacuum filter correction method based on specific force observation, and belongs to the technical field of inertial navigation. (two) background technology: [0002] The alignment of the static base of the strapdown inertial navigation system is the premise to ensure the working accuracy of the system. Static base alignment can usually use analytical alignment methods, compass loop alignment methods, azimuth estimation methods, two-position Kalman filter alignment methods, etc. Although the two-position Kalman filter alignment method can obtain the zero error of the accelerometer in the horizontal direction, it is difficult to separate the zero error and the scale error of the accelerometer in the vertical direction. If the polarity of the zero error and the scale error are opposite, it is possible to introduce a larger error. [0003] In view of the above problems, and in order to further...

AI Technical Summary

Problems solved by technology

(Tactical Missile Technology, 2010(6): 72~74) However, this method only separates and compensates the accelerometer zero error and scale error, and cannot correct the system attitude error at the same time, and the accuracy improvement is limited

Images