A Forward-Forward Backtracking Initial Alignment Method for Shaking Pedestals

Abstract

The invention relates to the field of initial alignment of strapdown inertial navigation systems, in particular to a rapid initial alignment method for positive-positive backtracking principles of swaying bases. According to the method, sensor real-time data is obtained firstly; vector observation-based coarse alignment is carried out by utilizing the sensor real-time data and an intermediate variable is stored; initial navigation system-based positive-positive backtracking initial alignment is constructed by utilizing the stored intermediate variable; an initial attitude estimated by the positive-positive backtracking initial alignment is fed back; and fine alignment is completed through estimating the current attitude angle. According to the method, a vector observer-based coarse alignment method is adopted, effective data in the alignment process is stored, and the positive-positive initial alignment process is realized by adoption of an initial navigation system-based system errormodel, so that the initial alignment time is shortened and the aim of rapid alignment is realized.

Description

technical field [0001] The invention relates to the field of initial alignment of a strapdown inertial navigation system, in particular to a fast initial alignment method based on the forward-forward backtracking principle of a shaking base. Background technique [0002] The initial alignment technology of the strapdown inertial navigation system is one of the key technologies for the normal navigation and positioning of the system. Using gyroscopes and accelerometers for initial alignment on the shaking base has the advantages of high attitude measurement accuracy, good reliability, and strong autonomy. At present, the initial alignment can be divided into two processes: coarse alignment and fine alignment. The coarse alignment mainly realizes rough attitude estimation; the fine alignment criterion is to perform fine attitude estimation on the basis of rough alignment. Many scholars have conducted in-depth research on the initial alignment technology of the strapdown inerti...

AI Technical Summary

Problems solved by technology

Many scholars have conducted in-depth research on the initial alignment technology of the strapdown inertial navigation system, but the research has the disadvantage of studying the coarse alignment and the fine alignment separately, and the fine alignment process does not make full use of the effective information of the rough alignment process. , resulting in a longer alignment time, which in turn prolongs the preparation time of SINS, which is not conducive to system application

[0003] In order to overcome the problem of long alignment time in traditional methods, a fast initial alignment method based on the backtracking principle is adopted

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