Transfer alignment method and device based on closed-loop self-checking of multiple slaver inertial navigation systems

Abstract

The invention belongs to the field of actual application of transfer alignment, and particularly relates to a transfer alignment method and device based on closed-loop self-checking of multiple slaverinertial navigation systems. The method comprises the following steps: carrying out self-checking on a carrier-based platform or a vehicle-mounted platform and a transfer alignment device, and afterdetermining that functions of equipment are normal and a main inertial navigation system is in a working state, carrying out the next step; resolving local geographic data information according to current longitude, latitude and height information; calculating transfer alignment error compensation; and transmitting information such as posture, speed and position of the main inertial navigation system to the slaver inertial navigation systems, and cooperating the slaver inertial navigation systems to establish an initial attitude matrix. Transfer alignment of the multiple slaver inertial navigation systems can be supported simultaneously, mutual transfer alignment in the slaver inertial navigation systems can be implemented, and the transfer alignment method and device based on the closed-loop self-checking of multiple slaver inertial navigation systems have the advantages of rapidness, high adaptability, high reliability, high autonomy and the like.

Description

technical field [0001] The invention belongs to the practical application field of transfer alignment, and in particular relates to a transfer alignment method and device based on multi-channel inertial navigation closed-loop self-verification. Background technique [0002] Inertial navigation technology is an autonomous navigation technology developed in the middle of the 20th century. For the strapdown navigation system, the initial strapdown matrix needs to be determined before the inertial navigation system uses the inertial measurement unit (IMU) measurement information to perform navigation calculations. The establishment of the initial matrix is ​​the initial alignment of the strapdown navigation system. [0003] A high-precision inertial navigation system is usually installed on a ship or vehicle-mounted platform as its main inertial navigation system (Main Inertial Navigation System, MINS), and the equipment carried on the vehicle or ship-borne platform also has its...

AI Technical Summary

Problems solved by technology

[0006] Aiming at the technical problems that traditional transfer alignment schemes and devices can only perform one-to-one transfer alignment and verification of transfer alignment results is difficult, the present invention provides a transfer alignment method and device based on multi-channel inertial navigation closed-loop self-verification :

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