Error quaternion-based transmission aligning method under large heading misalignment angle

Abstract

The invention discloses an error quaternion-based transmission aligning method under a large heading misalignment angle. The method comprises the following steps: arranging a main inertial navigation system and a slaver inertial navigation system on a carrier, completing the self alignment process of the master inertial navigation system, and establishing a master inertial navigation carrier system; directly giving obtained navigation information of the main inertial navigation system to the slaver inertial navigation system to be aligned as an initial value to complete binding coarse alignment of the current slaver inertial navigation system; calculating to obtain a misalignment angle between the slaver inertial navigation system and the master inertial navigation system, and equivalently transforming the misalignment angle to an error quaternion; regarding the dynamic deformation angle in the misalignment angle as a white noise process in order to obtain white noise process parameters; establishing a state equation and a state observation equation to obtain a filter model, and carrying out Kalman filtering to obtain state estimation; and obtaining the real attitude of the slaver inertial navigation system to complete alignment. The method has the advantages of high estimation accuracy and fast estimation speed.

Description

technical field [0001] The invention belongs to a transfer alignment method, in particular to a transfer alignment method based on an error quaternion under a large azimuth misalignment angle when it is applied to a large azimuth misalignment angle. Background technique [0002] The initial alignment technology is one of the key technologies of the inertial navigation system, and it is the basic condition for the normal operation of the inertial navigation system. The transfer alignment is an initial alignment technology for the main and sub inertial navigation. When the installation error angle is a small angle, the transfer alignment model is linear, so it can be directly processed by Kalman filtering, but in practical applications, the problem of large azimuth misalignment angles will inevitably occur, resulting in nonlinearity of the transfer alignment model. The traditional solution is to use nonlinear filtering for processing, but this method has poor robustness, and...

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Problems solved by technology

When the installation error angle is a small angle, the transfer alignment model is linear, so it can be directly processed by Kalman filtering, but in practical applications, the problem of large azimuth misalignment angles will inevitably occur, resulting in non-linearity of the transfer alignment model

The traditional solution is to use nonlinear filtering for processing, but this method has poor robustness, and there is a lot of room for improvement in estimation speed and estimation accuracy

[0003] In the prior art, "Carrier-borne Aircraft Rapid Transfer Alignment Technology under Large Azimuth Misalignment Angle", Yang Gongliu, Chinese Journal of Inertial Technology, No. 2, 2014, introduced the large azimuth misalignment angle rapid transfer alignment model, and then based on the actual However, this method also uses a nonlinear error model

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