Inertial navigation system transfer alignment modeling method based on dual quaternion

Abstract

The invention provides an inertial navigation system transfer alignment modeling method based on dual quaternion. A nominal dual quaternion between a main inertial navigation system and an auxiliary inertial navigation system is constructed, the dual quaternion is calculated to describe an auxiliary inertial navigation system carrier system relative to a main inertial navigation system carrier system, rotation and translation motion of the carrier systems are calculated, and a normal dual quaternion differential equation of transfer alignment is constructed by reasoning spinor expressions of relative rotation and translation motion of the main inertial navigation system and the auxiliary inertial navigation system and calculated; a dual quaternion error equation is obtained in combination with an accelerometer parameter error equation and a gyroscope error differential equation; a systematic observation equation is constructed by using the linear velocity of an accelerometer and the angular velocity of rotation of a gyroscope, an initial calibration parameter of the auxiliary inertial navigation system is calculated through kalman filter iteration, the effects of rotation and translation separation calculation on coning errors and sculling errors are eliminated, and the calculation accuracy and the calculation efficiency are effectively improved.

Description

technical field [0001] The invention relates to the technical field of aerospace system information processing, in particular to a dual quaternion-based inertial navigation system transfer alignment modeling method. Background technique [0002] The inertial navigation system is a complex high-precision electromechanical integrated system. It has gone through platform inertial navigation system and strapdown inertial navigation system. The attitude information of the early platform inertial navigation system is the gimbal based on the gyro torque. The built stable platform is directly provided, while the strapdown inertial navigation system (strapdown inertial navigation system) directly fixes the inertial measurement unit (IMU) on the carrier, and uses the computer platform to replace the physical platform, which has the advantages of small size, Low cost and high reliability. However, the strapdown inertial navigation system puts forward higher requirements on the perform...

AI Technical Summary

Problems solved by technology

By reviewing the published literature, it can be seen that the method of using dual quaternions to establish the navigation method of the inertial navigation system and the initial alignment model method of the strapdown inertial navigation system have already appeared, but for the transfer alignment process of the modern navigation system in the case of carrier movement There is no relevant literature on the modeling research, and more is the use of quaternions, modified Rodrigues parameters or Euler angle method to realize the research and analysis of transfer alignment system modeling

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