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Moving base transfer alignment method based on measurement of misalignment angle

A technology for transmitting alignment and misalignment angles, applied in the field of inertial navigation, can solve problems such as unsatisfactory large misalignment angles, and achieve the effects of easy understanding, reduced calculation amount, and simple form

Inactive Publication Date: 2014-12-24
NANJING UNIV OF SCI & TECH
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Problems solved by technology

But it cannot meet the situation of large misalignment angle

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  • Moving base transfer alignment method based on measurement of misalignment angle
  • Moving base transfer alignment method based on measurement of misalignment angle
  • Moving base transfer alignment method based on measurement of misalignment angle

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Embodiment Construction

[0018] In order to better understand the technical content of the present invention, specific embodiments are given together with the attached drawings for description as follows.

[0019] like figure 1 As shown, according to a preferred embodiment of the present invention, a moving base transfer alignment method based on measuring the misalignment angle is applied to an inertial navigation system composed of a main inertial navigation system and a sub-inertial navigation system. The aforementioned main inertial navigation system Both the system and the sub-inertial navigation system are strapdown inertial navigation systems, and the realization of the method includes the following steps:

[0020] Step 1. The sub-inertial navigation system uses the navigation parameters sent by the main inertial navigation system at a fixed frequency to complete coarse alignment. The aforementioned navigation parameters include speed, attitude and position information;

[0021] Step 2. Establ...

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Abstract

The invention provides a moving base transfer alignment method based on measurement of a misalignment angle. The moving base transfer alignment method comprises the following steps: step (1), completing coarse alignment by a sub-inertial navigation system by use of navigation parameters sent by a main inertial navigation system at fixed frequency, wherein the navigation parameters comprise speed, attitude and position information; step (2), establishing a system state equation and a system observation equation in a'measurement of misalignment angle and speed' matching way; step (3), constructing observables by the sub-inertial navigation system by used of the speed and posture information which is sent from the main inertial navigation system to the sub-inertial navigation system at fixed frequency; and step (4), performing iterative solution by virtue of Kalman filtration, estimating state estimated values of attitude misalignment angle, speed and position errors of the sub-inertial navigation system and correcting navigation information of the sub-inertial navigation system correspondingly so as to complete transfer alignment.

Description

technical field [0001] The invention belongs to the technical field of inertial navigation, and relates to a transfer alignment method of a moving base based on measuring misalignment angles. Background technique [0002] Transfer alignment is a method to optimally estimate the sub-inertial navigation attitude error angle by comparing the navigation information output by the sub-inertial navigation system with the corresponding navigation information output by the main inertial navigation system. It is the main method to solve the initial alignment problem of airborne weapons and mission sensors under the condition of moving base in the air. [0003] At present, the rapid transfer alignment technology under the condition of a small misalignment angle generally adopts the "speed + attitude" matching method in China, which can meet the needs in terms of speed and accuracy. However, at some special attitude angles, part of the measurement matrix is ​​set to 0, which makes it d...

Claims

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Application Information

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IPC IPC(8): G01C25/00
CPCG01C25/005
Inventor 陈帅董亮钟润伍余威常耀伟王磊杰金磊丁翠玲刘亚玲
Owner NANJING UNIV OF SCI & TECH
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