Transfer-alignment time-delay estimation method based on matching of speed and specific force

Abstract

The invention discloses a transfer-alignment time-delay estimation algorithm based on matching of speed and specific force. The method is realized by: carrying out coarse alignment of a sub inertial navigation system by using an aligned main inertial navigation system, then taking the speed difference and the specific force difference of the sub inertial navigation system relative to the main inertial navigation system as filtering observed quantities, expanding the time delay amount of main inertial navigation information into a filtering system state variable, combining an error model of the sub inertial navigation system, using Kalman filtering algorithm to estimate the time delay, and to estimate a platform error angle of the sub inertial navigation relative to the main inertial navigation. The method is applicable in the conditions that the main inertial navigation and the sub inertial navigation are both platform type navigation systems, and the transfer alignment based on the matching of the speed and the specific force has a shorter time delay.

Description

technical field [0001] The invention relates to a method for estimating information time delay, in particular to a method for estimating the time delay existing in the main inertial navigation matching information in the transfer alignment of an inertial navigation system. Background technique [0002] The transfer alignment is to estimate the misalignment of the sub-inertial navigation system by matching the output information of the main inertial navigation (aligned) of the carrier with the output information of the sub-inertial navigation (misaligned) installed on the carrier under dynamic conditions Angle, so as to complete a method of sub-inertial navigation initial alignment. For the platform inertial navigation system, since the implementation of the transfer alignment filtering algorithm is carried out in the sub-inertial navigation system, it is necessary to transmit some relevant information of the main inertial navigation system to the sub-inertial navigation syst...

AI Technical Summary

Problems solved by technology

For the platform inertial navigation system, since the implementation of the transfer alignment filtering algorithm is carried out in the sub-inertial navigation system, it is necessary to transmit some relevant information of the main inertial navigation system to the sub-inertial navigation system, due to the existence of time delay, resulting in There is a certain error between the navigation information received by the sub-inertial navigation and the navigation information transmitted by the main inertial navigation. The sub-inertial navigation uses the received information as a reference to transmit and align, which will affect the estimation accuracy of the platform error angle.

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