A method and system for static initial alignment of a vehicle anti-shake strapdown inertial measurement unit

By dynamically selecting key time points and adaptively adjusting the Kalman filter frequency on the wobbling base of the vehicle-mounted inertial measurement equipment, the problem of decreased initial alignment accuracy of the inertial measurement equipment in the vehicle environment was solved, achieving high-precision, rapid maneuverability, and anti-interference alignment effects.

CN122192367APending Publication Date: 2026-06-12BEIJING INST OF SPACE LAUNCH TECH +1
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
BEIJING INST OF SPACE LAUNCH TECH
Filing Date
2026-03-05
Publication Date
2026-06-12

AI Technical Summary

Technical Problem

Existing inertial measurement equipment suffers from reduced initial alignment accuracy in vehicle environments, failing to meet the requirements of high precision, rapid maneuverability, and anti-interference capabilities.

Method used

By dynamically selecting key time points during the coarse alignment process of the swaying base, the attitude transformation matrix from the carrier coordinate system to the navigation coordinate system is determined using the first threshold judgment model. During the fine alignment process, the Kalman filter frequency is adaptively adjusted to isolate the swaying effect, and the attitude transformation matrix is ​​output.

Benefits of technology

It improves the initial alignment accuracy and anti-interference capability of the vehicle-mounted strapdown inertial navigation system in swaying environments, while taking into account the timeliness of the alignment process, and adapts to the mobility and complexity requirements of the vehicle environment.

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Abstract

The application provides a kind of anti-shaking vehicle strapdown inertial measurement unit static initial alignment method and system, method includes: in the shaking base coarse alignment process, by the first threshold judgment model sliding search dynamically selects key time point, determines the attitude conversion matrix of carrier coordinate system b system to navigation coordinate system n system;In the shaking base fine alignment process, by the second threshold judgment model based on angular velocity threshold value self-adapting adjustment to the filter frequency of Kalman filtering to the attitude conversion matrix after coarse alignment, isolate the influence of shaking on filter convergence, finally output the attitude conversion matrix after fine alignment.The application improves the maneuverability, anti-interference ability and fast response capability of static initial alignment by dynamically selecting key time point in coarse alignment stage and self-adapting adjustment filter frequency in fine alignment stage.
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