Method for performing transfer alignment on large azimuth misalignment angle of ship in polar region environment based on unscented Kalman filtering

Abstract

The invention discloses a method for performing transfer alignment on a large azimuth misalignment angle of a ship in a polar region environment based on unscented Kalman filtering. The method comprises the following steps: I, completing starting and preheating preparation of a slave inertial navigation system, wherein the slave inertial navigation system completes primary binding by utilizing navigation parameters transmitted by a master inertial navigation system; II, performing inertial navigation calculation on the slave inertial navigation system, and synchronously acquiring the speed and attitude information of the master and slave inertial navigation systems output in a grid system to obtain speed and attitude errors so as to constitute and measure Z; III, according to navigation mechanics arrangement in the grid system, combining a grid navigation error equation, adopting a 'speed + attitude' matching manner, and establishing a system state equation and a measurement equation in the grid system; and IV, performing unscented Kalman filtering calculation, estimating the attitude misalignment angle of the slave inertial navigation system and the speed state estimated value, and completing transfer alignment. According to the method disclosed by the invention, the problem that the large azimuth misalignment angle cannot be subjected to transfer alignment in the polar region environment is solved, and the transfer alignment accuracy and applicability of the polar region are improved.

Description

technical field [0001] The invention belongs to the field of ship initial alignment, and in particular relates to a transfer alignment method for large azimuth misalignment angles of ships in a polar region environment based on unscented Kalman filtering. Background technique [0002] As a kind of initial alignment technology, the transfer alignment technology is suitable for the initial alignment of the moving base of the carrier-based aircraft or ship-borne weapon inertial navigation system. Among the existing inertial navigation mechanics arrangement schemes, the north-pointing inertial navigation mechanics arrangement has been widely used because of its simple concept and clear physical meaning. However, the mathematical arrangement of the north inertial navigation system has problems such as difficulty in azimuth gyro torque application, calculation overflow and error amplification in the polar region. Aiming at the above-mentioned problems, it is often solved by the d...

AI Technical Summary

Problems solved by technology

To sum up, the existing transfer alignment methods cannot effectively realize transfer alignment under large azimuth misalignment angles of ships in polar regions.

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