Transfer alignment method for matching speed and angular velocity in pitch

Abstract

The invention relates to a transfer alignment method, which solves the problems that a device error cannot be accurately estimated by rapid alignment, and the estimation is influenced by a large deformation angle in a rolling direction. The transfer alignment method comprises the steps of acquiring navigation parameter information of a main inertial navigation system, transferring the informationinto a slave inertial navigation system, carrying out inertial navigation calculation through the slave inertial navigation system to obtain self-navigation parameter information, then building stateequations of the systems, determining inertial matching amount according to the state equations, finally building a kalman filtering equation, and utilizing an extended kalman filter method for estimating states and compensating the device error, so that the accuracy is improved.

Description

1. Technical field [0001] The invention relates to a transfer alignment method based on the matching of velocity plus pitch angular velocity, which is a transfer alignment method that measures horizontal velocity and pitch angular velocity and uses Kalman filter for estimation. 2. Background technology [0002] With the progress of society and the development of science and technology, the application of inertial navigation system is becoming more and more extensive. The initial alignment technology is a key technology in the application of inertial navigation systems, and its alignment time and accuracy directly affect the rapid response and accuracy of inertial navigation systems. Transfer alignment technology is the most commonly used technology for initial alignment. It greatly shortens the alignment time and enhances the rapid response capability of the system due to its rapidity. It can achieve high alignment accuracy under the maneuvering conditions suitable for inert...

AI Technical Summary

Problems solved by technology

At present, the most commonly used transfer alignment methods are "velocity plus attitude matching" and "velocity plus angular velocity matching". Due to its short alignment time, it is impossible to accurately estimate the instrument error, resulting in a certain navigation error and affecting the navigation accuracy; "velocity plus angular velocity matching" can estimate the instrument error in a short period of time, and then effectively suppress the navigation error. However, due to the large lateral deformation angle, the "velocity plus angular velocity matching" is greatly disturbed and affects the accuracy; through research and analysis, it is found that "velocity plus pitch angular velocity matching" can achieve the same suppression of navigation errors as "velocity plus angular velocity matching" effect, while avoiding the interference of the lateral deformation angle

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