Inertial navigation equipment alignment method based on gravity vector time difference

Abstract

The invention belongs to the technical field of navigation, and relates to an inertial navigation equipment alignment method based on gravity vector time difference. The method comprises the following steps: 1) establishing any inertial coordinate system, and updating a transformation matrix between the inertial coordinate system and a machine system in real time according to the real-time output of a gyroscope, thereby ensuring that the inertial coordinate system is static relative to an inertial space, and automatically isolating any external angular motion including the earth rotation angular velocity by the inertial coordinate system; 2) calculating a gravity vector direction of gravity in the inertial coordinate system, and determining real-time values of the sky direction and the east direction at any moment in the inertial coordinate system; 3) obtaining a conversion relationship between the northeast sky geographic coordinate system and the inertial coordinate system, determining a conversion matrix, namely an attitude matrix, of the northeast sky geographic coordinate system and the aircraft system, and completing initial coarse alignment. The invention provides the inertial navigation equipment alignment method based on gravity vector time difference, which can well solve the problems of insufficient initial alignment precision, overlong consumed time and the like.

Description

technical field [0001] The invention belongs to the technical field of navigation, and relates to an alignment method of a navigation device, in particular to an alignment method of an inertial navigation device based on a gravity vector time difference. Background technique [0002] Ships will be in a swaying state due to wind and wave interference during mooring or sailing, and modern warfare requires land military vehicles to have a quick start. However, in the case of wind blowing and soft ground, the strapdown inertial navigation system An autonomous navigation system that relies on any external information and does not radiate energy to the outside), the output of the gyroscope and accelerometer contains interference information caused by the sway of the ship and vehicle, especially the center of gravity of the missile launching vehicle is high, and the swing amplitude Significantly increased, the static base alignment method cannot be used for the initial alignment at...

AI Technical Summary

Problems solved by technology

[0011]In order to solve the above-mentioned technical problems in the background technology, the present invention provides a method that can well solve the problems of insufficient initial alignment accuracy and long time-consuming Alignment method for inertial navigation equipment based on gravity vector time difference

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