Collaborative initial alignment method based on multiple-inertia-unit informational constraint

Abstract

The invention discloses a collaborative initial alignment method based on multiple-inertia-unit informational constraint. The collaborative initial alignment method comprises the steps of 1 building a single-inertia-unit alignment mathematical model, wherein an inertia unit A and an inertia unit B utilize respective inertial measurement units to measure information of accelerated speed and accelerated speed of a carrier and perform strapdown inertial navigation calculation to obtain navigation parameter information of the inertia unit A and the inertia unit B; 2 building a state equation of multiple-inertia-unit collaborative alignment; 3 building constrained relationship of a multiple-inertia-unit system; 4 building a measurement equation of the multiple-inertia-unit collaborative alignment based on the multiple-inertia-unit informational constraint; 5 building a recurrence equation of a discrete type Kalman filter and performing Kalman filtering calculation to obtain slaver inertial navigation parameter revision information; and 6 feeding the navigation parameter revision information back to navigation calculation and performing revision and alignment of navigation parameters of the inertia unit A and the inertia unit B. The collaborative initial alignment method based on the multiple-inertia-unit informational constraint improves multiple-inertia-unit registration precision and simultaneously can improve precision and speed of error estimation of a multiple-inertia-unit device.

Description

technical field [0001] The invention relates to a cooperative initial alignment method based on multi-inertial group information constraints, and belongs to the technical field of strapdown inertial navigation. Background technique [0002] Strapdown inertial navigation: Since it does not require any external reference information and does not transmit any information to the outside world, strapdown inertial navigation is a completely autonomous navigation method. It has the advantages of not relying on external information, strong concealment, and flexible maneuvering. Compared with the platform inertial navigation system, the strapdown inertial navigation system does not require a precise and stable platform, which reduces the hardware structure and greatly reduces the cost. The strapdown inertial navigation system has the problem that errors accumulate rapidly with time, and the navigation accuracy diverges with time. In the case of high precision requirements, the strapd...

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Problems solved by technology

(References: [Zhang Lichuan, Xu Demin, Liu Mingyong. Cooperative navigation method for multi-autonomous underwater vehicles based on dual hydrophones [J]. Xi'an: School of Navigation, Northwestern Polytechnical University. 2011]), but the disadvantages are : 1. The master inertial group is required to have higher precision than the slave inertial group; 2. The same precision inertial group is not applicable to this scheme for cooperative navigation

(References: [Wang Xiaogang, Guo Jifeng, Cui Naigang. Coordinated positioning method for intelligent missiles based on data link [J]. Harbin: School of Astronautics, Harbin Institute of Technology, 2009]) However, the disadvantages are: 1. The inertial group of the leading missile is required to have relatively High precision, the inertial group accuracy of the leader bomb directly affects the positioning accuracy; 2. When the inertial group of the leader bomb and the follower bomb have the same accuracy, this solution is not applicable; 3. When a given number of leader bombs perform cooperative search tasks, the While maximizing the search range, it is also necessary to consider the influence of the search formation configuration on the co-location accuracy; 4. This method is also constrained by the number of leader bombs and the geometric conditions of the formation between the leader bomb and the attack bomb

[0008] The transfer alignment technology usually requires that the accuracy of the parent inertial group is generally several orders of magnitude higher than that of the sub-inertial group. When two inertial groups of the same precision are aligned at the same time, the transfer alignment scheme in the traditional sense is not applicable

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