Quick transfer alignment method under large misalignment angle condition

Abstract

The invention discloses a quick transfer alignment method under a large misalignment angle condition. The method comprises the following steps that: firstly, using speed information and attitude information obtained by master and slave inertial navigation as the input item of a transfer alignment algorithm; after a filtering algorithm is used for processing, obtaining a speed error and an attitudeerror when the slave inertial navigation serves as the misalignment angle; and carrying out real-time compensation on the speed error and the attitude error so as to realize the transfer alignment. By use of the designed transfer alignment method, according to different characteristics of different stages of transfer alignment, different filter inputs and filter models can be adopted to realize the transfer alignment, a nonlinear model is adopted in a large misalignment angle stage to guarantee the accuracy of the transfer alignment, in a small misalignment angle stage, a linear model is adopted to improve the calculation efficiency of the transfer alignment, and therefore, the problem that a traditional transfer alignment method only uses a small misalignment angle condition can be effectively solved.

Description

technical field [0001] The invention relates to the field of inertial navigation, in particular to a rapid transfer alignment method under the condition of a large misalignment angle. Background technique [0002] With the increasing requirements of modern warfare on the precise strike capability and rapid response capability of weapons and equipment, most of the current vehicle-mounted, airborne, and ship-borne weapon systems use the strapdown inertial navigation system (Strapdown Inertial Navigation System, SINS) as the core navigation equipment , the navigation accuracy of SINS largely determines the final strike accuracy of the weapon system. As for the weapon system, considering the system security, it is impossible to use active navigation methods such as satellite navigation to assist the inertial navigation. At this time, the inertial navigation accuracy mainly depends on its own navigation accuracy. Since inertial navigation adopts the principle of integral calcula...

AI Technical Summary

Problems solved by technology

However, the stability of the algorithm of the first method is poor, and it is prone to the problem of algorithm divergence, which is difficult to apply to engineering practice; while the second method has a large amount of calculation, a long convergence time, and the estimation degree under large misalignment angles. Not advanced question

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