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Method for transfer alignment of speed and specific force matching

A technology for transmitting alignment and speed, which is applied in the direction of navigation, measuring devices, instruments, etc. through speed/acceleration measurement, to achieve the effect of high precision, improved precision, and small amount of calculation

Inactive Publication Date: 2013-12-04
HARBIN ENG UNIV
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Problems solved by technology

This method only uses the specific force difference integral matching transfer alignment algorithm

Method used

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  • Method for transfer alignment of speed and specific force matching
  • Method for transfer alignment of speed and specific force matching
  • Method for transfer alignment of speed and specific force matching

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Embodiment

[0051] Such as image 3 , Figure 4 As shown, under the following initial conditions, the estimation of the transfer alignment and the estimation error are simulated, and the simulation results are analyzed and compared.

[0052] Initial conditions:

[0053] 1) Assuming that there is no error in the main inertial navigation, the error of the lever arm effect has been fully compensated;

[0054] 2) The initial position of the carrier: longitude 117°, latitude 39°. The initial attitude angles of the carrier (pitch, roll, heading) are: 0°, 0°, 45°; the initial error angle of the sub-inertial navigation platform is ψx =5′,ψ y =5′,ψ z =5';

[0055] 3) The constant value drift of the sub-inertial navigation gyroscope is 0.01(°) / h, and the random drift noise is 0.001(°) / h; the constant value zero bias of the accelerometer is 1×10 -4 g, random bias noise is 1×10 -5 g;

[0056] 4) The initial value of the state estimation is 0; the initial variance matrix P 0 The parameters ar...

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Abstract

The invention provides a method for transfer alignment of speed and specific force matching. According to the method, precise estimation is conducted on the misalignment angle of a platform in a short time under the dynamic environment. The method comprises the steps that according to the work principle and characteristics of a platform inertial navigation system, a speed error model and an attitude error model between main inertial navigation and sub inertial navigation are established; according to the obtained system error models, a state equation of system filtering is established and an observing equation of the filtering is established, wherein speed and specific force serve as the observed quantity; the system state is estimated through the Kalman filtering, so that the platform misalignment angle relative to the sub platform inertial navigation is finally obtained. The method is suitable for transfer alignment of the platform inertial navigation system under the dynamic condition.

Description

technical field [0001] The invention relates to a transfer alignment method of a ship platform inertial navigation system, in particular to a speed plus specific force matching transfer alignment method. Background technique [0002] Transfer alignment is a technique used to solve the problem of initial alignment of a carrier under moving base conditions. In the transfer alignment process, it is necessary to introduce the navigation information of the high-precision main inertial navigation system of the carrier, and use this information as a reference to eliminate the alignment error factors between the two systems through a certain navigation to determine the accuracy of the sub-inertial navigation system. heading, attitude and speed. For the platform inertial navigation system, since the attitude of the platform inertial navigation is output by the platform synchronizer, the alignment accuracy is greatly affected by factors such as the synchronizer error, the inertial na...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C25/00G01C21/16
Inventor 高伟郭宇徐博迟珊珊杨建陈春田学林王文佳
Owner HARBIN ENG UNIV
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