Strap-down inertial navigation air initial alignment method for floating aircraft

Abstract

The invention discloses a strap-down inertial navigation air initial alignment method for a floating aircraft, belonging to the technical field of inertia. According to the method, air coarse alignment of a floating aircraft inertial navigation system is realized by using a global positioning system (GPS)-assisted initial concretion analysis type coarse alignment method, inertial navigation attitude information is roughly acquired, and position information and speed information are directly acquired by a GPS; on the basis of coarse alignment, the condition of a large-orientation out-of-alignment angle is considered, a Kalman filtering state equation comprising a coarse alignment out-of-alignment angle error and a Kalman filtering measurement equation for measuring by taking navigation solving and speed difference measured by the GPS as the quantity are established, and an out-of-alignment angle is estimated through Kalman filtering. The attitude of a carrier can be tracked in real time through the GPS-assisted initial concretion analysis type coarse alignment method, the interference of an angular motion and a linear motion is shielded, and coarse alignment time is shortened greatly. The method provided by the invention is applicable to the motion conditions of the horizontal motion and rotation of the carrier, is high in universality and is feasible; expensive equipment does not need to be added.

Description

technical field [0001] The invention belongs to the field of inertial technology, and in particular relates to an airborne initial alignment method of a strapdown inertial navigation system under the condition of simultaneous translation and celestial rotation of an airborne vehicle during air maneuvering. Background technique [0002] Aerial vehicles must have the ability to perform missions in the air for days or even months. In order to save energy and reduce unnecessary equipment aging loss, its strapdown inertial navigation system must have the function of normal operation after being turned on in the air. This requires that the strapdown inertial navigation system must be able to achieve initial alignment during the dynamic process of the aerostat maneuver and provide the ability to use initial navigation value information, which is the premise for subsequent navigation positioning and attitude measurement. Aerial vehicles float in the sky and are affected by factors ...

AI Technical Summary

Problems solved by technology

Document 5: Liu Baiqi et al. A new method for SINS / GPS air alignment based on observability analysis [J]. Journal of System Simulation, 2008, 20 (16): 4302-4348, studied the GPS-assisted air alignment method , this method uses the observability of the system parameters as the feedback value, and studies the use of various maneuvering methods to improve the system observability under the condition of constant speed and direct flight. In-Air Alignment in Existing Rotational Motion Characteristics

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