SINS/GPS/polarized light combination navigation system modeling and dynamic pedestal initial aligning method

Abstract

The invention provides a SINS / GPS / polarized light combination navigation system modeling and a dynamic pedestal initial aligning method, which relates to the dynamic pedestal initial aligning method for vehicle, ship and aviation aircraft. The invention concretely comprises the following steps: (1) establishing a SINS error equation as an initial aligning state equation; (2) according to a polarization azimuth, a GPS outputted speed and a position, establishing an initial aligning measurement equation base on the polarization azimuth error, a speed error and a position error; (3) estimating an attitude error, a speed error and a position error using a Kalman filtering; (4) correcting the feedbacks of the attitude, the speed and the position of SINS. The SINS outputs the attitude, the speed and the position information of the carrier to users. The invention has the advantages of high precision, small computational complexity and good anti-interference capability, and is used for improving the aligning precisions of vehicle, ship and aviation aircraft, with reduced initial aligning time.

Description

technical field [0001] The invention relates to a modeling of a SINS / GPS / polarized light integrated navigation system and a method for initial alignment of a moving base, which can be used to improve the initial alignment accuracy of a moving base of a vehicle (vehicle, ship and aircraft) in the earth's atmosphere. Reduce initial alignment time. Background technique [0002] Before entering the navigation state, the navigation system needs to perform initial alignment, and through the initial alignment, the initial navigation parameters, including attitude, velocity and position, are obtained. Under the condition of moving base, there are various forms of interference such as shaking and vibration during the movement of the carrier. These interference factors will reduce the initial alignment accuracy of the navigation system and prolong the alignment time. Therefore, the initial alignment method of the moving base has always been a difficult and hot issue in the field of ...

AI Technical Summary

Problems solved by technology

In the transfer alignment method, the initial alignment accuracy and time cannot be guaranteed due to factors such as structural flexible deformation of the missile carrier and data transmission delay between the main inertial navigation system and the sub-inertial navigation system.

The initial alignment method of the inertial navigation system combined with navigation equipment such as GPS, magnetic compass and star sensor also has problems: among them, the error of GPS is relatively large when the carrier is maneuvering, and the synchronization with the inertial navigation system signal is not good; The magnetic compass depends on the accuracy of the geomagnetic field model, especially when the geomagnetic field is abnormal, there will be a large error, so the initial alignment effect of the moving base is not ideal; the star sensor can estimate the attitude error of the carrier with high precision, but not for initial alignment of the kinematic base during the daytime period in the Earth's atmosphere

[0005] In summary, the currently commonly used method of initial alignment of the moving base has disadvantages such as low alignment accuracy and long alignment time, while the polarized light sensor is extremely insensitive to position errors, and the initial alignment of the moving base only in combination with SINS has the same effect not good

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