A two-step filtering method suitable for on-board transfer alignment

Abstract

The invention discloses a two-step filtering method suitable for vehicle transfer alignment. The two-step filtering method comprises a sub-inertial navigation transfer alignment inertial navigation model; and state variables in the alignment inertial navigation model are filtered and compensated to realize the transfer alignment, wherein a filtering process of the transfer alignment inertial navigation model is divided into a speed filtering sub-process and an attitude filtering sub-process, and the speed filtering sub-process is carried out firstly and then the attitude filtering sub-processis carried out. According to the two-step filtering method suitable for the vehicle transfer alignment provided by the invention, the original filtering process of the transfer alignment is divided into two filtering processes, according to different characteristics of different filtering processes, a filtering model conforming to stage characteristics is used for filtering, and the accuracy and the rapidity of the transfer alignment are both considered. The original filtering process of the transfer alignment is divided into two filtering processes, so that model dimension reduction is realized; and while the calculation amount of an algorithm is reduced, the decoupling between filtering parameters is effectively realized, and the workload required by the debugging of the filtering parameters is greatly simplified.

Description

technical field [0001] The invention relates to the field of inertial navigation, in particular to a two-step filtering method suitable for vehicle-mounted transfer alignment. Background technique [0002] The initial alignment to the target is one of the key technologies of the Strapdown Inertial Navigation System (SINS). Modern war weapons tend to be smaller, faster, more precise, and more intelligent. Its purpose is to seize the initiative in the war without causing a large number of casualties. This requires the weapon system to have a fast reaction time and precise guidance accuracy, both of which are closely related to the alignment time and navigation accuracy of the SINS in the weapon system. The traditional autonomous initial alignment method for targets takes a long time to align and requires high precision of SINS devices. This alignment method is not suitable for rapid response weapons ready to launch at any time in terms of reaction time or cost. [0003] Tran...

AI Technical Summary

Problems solved by technology

In addition, because the transfer alignment model has the characteristics of complex state variable coupling relationship and high dimensionality of the filtering model, in practical engineering applications, the selection and debugging of filtering parameters is a very heavy work, and it takes a lot of manpower and time to get a set of feasible filter parameters, the efficiency is very low

An important reason for the complexity of filter parameter debugging is because of the strong coupling between parameters: when a filter parameter is adjusted, the filter result that is not directly affected by the filter parameter will also appear larger due to the existence of the coupling item. Changes, resulting in time-consuming and laborious debugging of filter parameters

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