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Transfer alignment method capable of estimating and compensating wing deflection deformation

A technology of deflection deformation and transfer alignment, applied in the field of inertial navigation, can solve the problems of large installation error angle estimation error, failure of wing deflection deformation angle, and no longer applicable, so as to achieve fast alignment speed and reduce calculation The effect of volume and form is simple

Inactive Publication Date: 2015-04-29
NANJING UNIV OF SCI & TECH
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  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] In the literature "A Fast Transfer Alignment Method", a speed + attitude matching transfer alignment method is proposed, but when considering wing deflection, this matching method is no longer applicable
After simulation, it is found that when the Kalman filter is performed by using the speed + attitude matching method, the estimation error of the installation error angle is very large. Obviously, this method has failed to estimate the installation error angle and the deflection angle of the wing.

Method used

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  • Transfer alignment method capable of estimating and compensating wing deflection deformation
  • Transfer alignment method capable of estimating and compensating wing deflection deformation
  • Transfer alignment method capable of estimating and compensating wing deflection deformation

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Embodiment 1

[0083] In order to further illustrate the above method and fully demonstrate the reliability and accuracy of the method, a digital simulation test is carried out.

[0084] (1) Simulation initial conditions and parameter settings

[0085] 11) The initial velocity of the carrier is 100m / s east, 100m / s north, and 0m / s sky; the initial position of the carrier: latitude 30°, longitude 110°, height 1000m; initial attitude of the carrier: pitch The angle is 0°, the roll angle is 0°, and the yaw angle is -45°.

[0086] 12) The sub-inertial navigation accelerometer constant bias is set to 5 mg; the sub-inertial navigation gyro constant value drift is set to 10 (deg / h); the sub-inertial navigation installation angle relative to the main inertial navigation in three axes is set to 2 °, 1.5°, 1°.

[0087] 13) Wing deflection related time τ x =60s,τ y =80s,τ z =70s, second-order Markov process variance σ i 2 = 0.1 ...

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Abstract

The invention discloses a transfer alignment method capable of estimating and compensating wing deflection deformation. The method comprises steps as follows: binding navigation information, namely, the speed, the posture and the position, of a main inertial navigation system to an auxiliary inertial navigation system to finish coarse alignment; constructing the observed quantity by using speed and posture information sent by the main inertial navigation system to the auxiliary inertial navigation system at the fixed frequency as well as speed and posture information of the auxiliary inertial navigation system; introducing correlated variables of a wing deflection deformation model into a state equation, and establishing a system state equation and an observation equation by using a measurement misalignment angle and speed matching method; performing iterative solution by using conventional Kalman filtering, estimating information such as the posture misalignment angle, the speed error and the like of the auxiliary inertial navigation system, and correcting the speed and the posture of the auxiliary inertial navigation system with the information to obtain initial navigation information of the auxiliary inertial navigation system to finish transfer alignment. The transfer alignment is realized with the measurement misalignment angle and speed matching method, and the method has the advantages that the method is small in calculated amount, simple in form, easy to understand and the like.

Description

technical field [0001] The invention belongs to the technical field of inertial navigation, in particular to a transfer alignment method capable of estimating and compensating for wing deflection. Background technique [0002] Transfer alignment refers to a method in which the sub-inertial navigation on the carrier that needs to be aligned uses the information of the aligned main inertial navigation to perform alignment when the carrier is sailing. In transfer alignment research, in order to reflect the effectiveness of a specific matching method, the influence of carrier deflection is usually not considered, and the carrier is considered to be an absolute rigid body, but this assumption is not valid in practice. [0003] Deflection refers to the phenomenon that the wing itself is not a rigid body, and it deforms and vibrates under the action of external forces and moments, aerodynamic loads, and turbulence. These phenomena have a considerable impact on the accuracy of the ...

Claims

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Application Information

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IPC IPC(8): G01C25/00G01C21/16
CPCG01C25/005
Inventor 陈帅董亮孔维一丁翠玲余威刘亚玲钟润伍
Owner NANJING UNIV OF SCI & TECH
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