Method of air coarse alignment based on straight-line trajectory

Abstract

The invention discloses a method of air coarse alignment based on a straight-line trajectory. The method of the air coarse alignment based on the straight-line trajectory comprises the steps that an air coarse alignment triggering condition is established; after real-time speed of an unmanned aerial vehicle meets the air coarse alignment triggering condition, the unmanned aerial vehicle is required to navigate in a straight line, real-time trajectory angle information is obtained; and an effective sampling point is judged to calculate a level attitude angle by using a reliability assessment index of the straight-line trajectory, and coarse alignment is completed. According to the method of the air coarse alignment based on the straight-line trajectory, the problem that initial alignment ofa ship-borne unmanned aerial vehicle inertial navigation system is affected by sea wave fluctuating is solved, and the lifting, takeoff and straight-line operation process of the unmanned aerial vehicle are distinguished through speed threshold isolation; rest time before takeoff required for the alignment of the ship-borne unmanned aerial vehicle inertial navigation system is reduced, the alignment of initial attitude is completed by using an aircraft accelerated straight-line flight process, and the flight efficiency is well improved.

Description

technical field [0001] The disclosure belongs to the technical field of inertial navigation systems and initial alignment, and relates to a method for coarse alignment in the air based on straight track. Background technique [0002] The initial alignment technology is one of the key technologies of the inertial navigation system. The quality of the initial alignment technology will directly affect the navigation accuracy of the system. Therefore, it has important theoretical and practical significance to improve the initial alignment technology of the inertial navigation system. [0003] The traditional initial alignment methods of inertial navigation mainly include: 1) static alignment on the ground, which is mainly suitable for land vehicle equipment, and this method is mostly used in domestic and foreign products; 2) dynamic base alignment, mainly for marine equipment, but Restricted by factors such as wave size and ship load; 3) Global satellite positioning system (GNSS...

AI Technical Summary

Problems solved by technology

For the current ship-borne UAV inertial navigation system, it is facing the problem of the initial alignment caused by the shaking of the ship at sea, and the application problem that the coarse alignment cannot be completed through good static, so that the inertial navigation system initial The real-time and reliability of the

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