A method of initial alignment in the air for strapdown inertial navigation of aerostats

Abstract

The invention discloses a method for initial alignment in the air of a strapdown inertial guide for a floating aircraft, which belongs to the technical field of inertia. The present invention adopts the inertia solidification analytical coarse alignment method assisted by GPS to realize the coarse alignment in the air of the inertial navigation system of the airborne vehicle, and roughly obtains the attitude information of the inertial navigation, while the position and speed information are directly obtained by GPS: on the basis of coarse alignment In the above, considering the situation of large azimuth misalignment angle, establish the Kalman filter state equation including the coarse alignment misalignment angle error, and the Kalman filter measurement equation measured by the speed difference between the navigation solution and the GPS measurement, through Kalman filter to estimate the misalignment angle. The present invention adopts the GPS-assisted inertial solidification analytical coarse alignment method to track the attitude of the carrier in real time, shield the interference of angular motion and linear motion, and greatly shorten the rough alignment time; the method provided by the present invention is suitable for the motion of the carrier translation and rotation It has good universality; it does not need to add expensive equipment, and it is more feasible.

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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