Autocollimation method of carrier aircraft rotating type strapdown inertial navigation system under shaking base

Abstract

The invention discloses an autocollimation method of a carrier aircraft rotating type strapdown inertial navigation system under a shaking base, and belongs to the field of navigation. The autocollimation method comprises the following steps of: firstly obtaining the longitude and latitude of the position of a carrier, secondly collecting output signals of a fiber-optic gyro and a quartz flexible accelerometer in an inertia measurement unit, and then carrying out automatic compensation on a constant error of an inertia device by adopting a double-shaft rotating table rotatory IMU (inertial measurement unit) to form a rotating type strapdown inertial navigation system; and then calculating a rough initial posture array by utilizing gravity acceleration in an inertial coordinate system as a reference vector, establishing a state equation and a measuring equation again of the system, designing a vanishing adaptation Kalman filter to accurately estimate a misalignment angle of the carrier, and correcting a strapdown posture matrix by utilizing the misalignment angle to finish initial alignment and enter a navigation state. The method isolates the influence of shake of a vessel to initial alignment of a carrier aircraft, and dynamic random disturbance in measured noise is restrained through estimating the initial posture array of the system via the vanishing adaptation Kalman filter method, so that rapid autocollimation of the carrier aircraft rotating type strapdown inertial navigation system is realized.

Description

technical field [0001] The invention relates to an initial alignment technology in the field of maritime navigation, in particular to a self-alignment method for a shipboard aircraft rotary strapdown inertial navigation system under a swaying base. Background technique [0002] Rotation modulation technology, as a self-compensation method for the constant value error of inertial devices, can automatically modulate the constant value drift of the gyro and the zero bias of the accelerometer, thereby improving the long-term navigation capability of the system and giving full play to the "autonomy" of inertial navigation. sex" advantage. Compared with the conventional strapdown inertial navigation system, the strapdown inertial navigation system using rotary modulation technology is expected to greatly improve the navigation accuracy of the system at the same device level, and has the advantages of small size, light weight, low cost, high reliability, and good concealment. And ...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide a self-alignment method for the carrier-based aircraft's rotary strapdown inertial navigation system under a rockin

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