Optimal attitude matching-based moving base transfer alignment time delay compensation method

An optimal attitude matching and compensation method technology, applied in the field of inertial navigation, can solve the problem of not considering the large installation angle, and achieve the effect of solving the time delay problem, improving the transmission alignment accuracy, and avoiding trouble.

Inactive Publication Date: 2015-07-01
NANJING UNIV OF SCI & TECH
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  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, the time delay in this algorithm is measured by hardware devices, and does not take into account the existence of large installation angles

Method used

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  • Optimal attitude matching-based moving base transfer alignment time delay compensation method
  • Optimal attitude matching-based moving base transfer alignment time delay compensation method
  • Optimal attitude matching-based moving base transfer alignment time delay compensation method

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Embodiment 1

[0091] In order to illustrate the method of the present invention and fully demonstrate the reliability and accuracy of the method, the simulation test is as follows:

[0092] 1) Simulation initial conditions and parameter settings

[0093] (11) The east, north, and sky speeds of the carrier are -50m / s, -50m / s, and 0m / s respectively; the initial position of the carrier: the latitude is 32.03°, the longitude is 118.46°, and the height is 400m; the initial attitude of the carrier is: pitch The angle is 0°, the roll angle is 0°, and the yaw angle is 135°.

[0094] (12) The sub-inertial navigation accelerometer constant value bias is set to 5 mg; the sub-inertial navigation gyro constant value drift is set to 10 (deg / h).

[0095] (13) Kalman filter initial parameter X 0 , R 0 , Q 0 ,P 0 The settings are as follows:

[0096] x 0 =0

[0097] P 0 =diag{(1°) 2 ,(1°) 2 ,(1°) 2 ,(0.5m / s) 2 ,(0.5m / s) 2 ,(0.5m / s) 2 ,

[0098] (10° / h) 2 ,(10° / h) 2 ,(10° / h) 2 ,(5mg) 2 ,(...

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Abstract

The invention discloses an optimal attitude matching-based moving base transfer alignment time delay compensation method. The method comprises carrying out coarse alignment on an inertial navigation subsystem by navigation information of an inertial navigation main system, respectively carrying out navigation calculation by the inertial navigation main system and the inertial navigation subsystem, transmitting rate and attitude information to the inertial navigation subsystem by the inertial navigation main system, respectively acquiring strapdown matrixes of the inertial navigation main system and the inertial navigation subsystem according to the inertial navigation calculation result, simultaneously, constructing an installation angle recourse matrix of the inertial navigation subsystem, constructing observed quantity in the inertial navigation subsystem to obtain speed difference and measurement misalignment angle of the inertial navigation main system and the inertial navigation subsystem, building a strapdown inertial navigation system state equation, a system observation equation and system observed quantity, carrying out Kalman filtering iterative computation to obtain transfer alignment time delay estimated values of the inertial navigation main system and the inertial navigation subsystem, and carrying out compensation to obtain an inertial navigation subsystem attitude misalignment angle after time delay compensation. The method realizes accurate time delay estimation and compensation and has a wide use range.

Description

technical field [0001] The invention belongs to the technical field of inertial navigation, in particular to a method for compensating time delay of moving base transfer alignment based on optimal attitude matching. Background technique [0002] Before the inertial navigation system enters the navigation state, it must undergo an initial alignment. Inertial navigation system transfer alignment is the process of sub-inertial navigation system data dynamically matching the main inertial navigation system data, that is, the inertial navigation system aligns the sub-inertial navigation system with the speed and attitude information of the main inertial navigation system. During the transfer alignment process, due to the main inertial navigation solution and transmission delay, the sub-inertial navigation solution information and the matching reference information cannot be completely synchronized. In some cases, the time delay is large, which will affect the Kalman in transfer a...

Claims

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Application Information

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IPC IPC(8): G01C25/00G01C21/16
CPCG01C25/005
Inventor 陈帅钟润伍王磊杰常耀伟金磊余威徐芹丽
Owner NANJING UNIV OF SCI & TECH
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