Transfer alignment method in polar region based on inverse coordinate system

Abstract

The invention discloses a transfer alignment method in a polar region based on an inverse coordinate system. The method comprises the steps of taking the earth as a sphere, converting carrier navigation information under the traditional coordinate system into the inverse coordinate system by establishing the inverse coordinate system, obtaining carrier navigation information under a new coordinate system, establishing a new geographic coordinate system based on the inverse coordinate system, establishing a state equation and a measurement equation of transfer alignment under the new coordinate system by establishing a quick velocity and posture transfer alignment matching method, establishing a Kalman filtering equation to estimate a misalignment angle of primary and secondary inertial navigation, and judging the feasibility of the transfer alignment in the polar region. The method solves the problem that the transfer alignment method based on the traditional geographic coordinate system cannot be used during navigation of a ship in the polar region. The method has the characteristics of independence, flexibility, simplicity and certain navigation accuracy, and is more applicable to launch of shipborne weapons in high latitudes and the polar region.

Description

technical field [0001] The invention relates to a transfer alignment method in the polar region based on an inverse coordinate system, which can be used for high-latitude launch of ship-borne weapons in the polar region and energy survey and navigation of the ship in the polar region. Background technique [0002] The transfer alignment technology is a kind of initial alignment of the moving base, and the transfer alignment involves two sets of inertial navigation systems. A set of high-precision inertial navigation system will be installed on ships or aircrafts as the main inertial navigation system (Main Inertial Navigation System abbreviated as MINS) of ships and aircrafts. Shipborne weapons and airborne missiles have their own set of inertial navigation systems, usually their accuracy is not very high, compared to the main inertial navigation system, they are called sub-inertial navigation systems (Slave Inertial Navigation System abbreviated as SINS) . In the strapdow...

AI Technical Summary

Problems solved by technology

First, by establishing a new geographic coordinate system based on the inverse coordinate system, the high latitude and polar regions under the traditional coordinate system are converted into the middle and low latitude areas under the inverse coordinate system, and the traditional coordinate system is downloaded to the body by using the idea of ​​mathematical geometry. Convert the position and heading information to the inverse coordinate system, use the obtained relevant navigation information, and use the fast transfer alignment method of speed plus attitude matching to derive the polar area transfer alignment differential equation based on the inverse coordinate system, and establish the velocity error and principal The differential equation of the inertial navigation misalignment angle, and the Kalman filter model is established to filter and estimate the misalignment angle of the main sub-inertial navigation, which overcomes the problem that the ship cannot be transferred and aligned in the polar region to a certain extent, and improves the polar region transmission. Alignment accuracy

Images