6 results about "Transfer alignment" patented technology

The present application relates to a kind of unmanned plane transfer alignment method based on relative installation error analytical expression model, belong to unmanned plane transfer alignment technical field, including the following steps: S1, the relative installation error analytical expression model between main inertial navigation system and sub inertial navigation system is constructed;S2, based on the relative installation error analytical expression model of step S1 construction, relative installation error is obtained;S3, using the relative installation error of step S2, initial self-alignment error is obtained;S4, based on the relative installation error and initial self-alignment error of step S3 acquisition, transfer alignment is carried out.The method provided by the present application is high in reliability, strong in universality, high in the running efficiency of algorithm, simple in operation, high in precision, and good in practicability.

This invention discloses a transfer alignment method and device based on a left-invariant error model of Lie groups, belonging to the field of inertial navigation systems. The method first establishes a left-invariant error state model between the master and sub-inertial navigation systems based on Lie group theory; secondly, it constructs attitude and velocity error differential equations that simultaneously consider the effects of lever arm effects and installation error angles; then, it selects attitude and velocity measurements defined by the Lie group and establishes corresponding measurement equations; finally, it designs an unscented Kalman filter for the nonlinear state equations and measurement equations to jointly estimate parameters such as misalignment angle, velocity error, lever arm vector, installation error angle, and inertial navigation zero bias. The transfer alignment method proposed in this invention not only fully considers the actual lever arm errors between the master and sub-inertial navigation systems, improving the completeness of system error modeling, but also uses the local navigation coordinate system as the reference coordinate system, which is closer to actual engineering needs and has good versatility and engineering application prospects.

This invention belongs to the technical field of inertial navigation systems, specifically relating to a transfer alignment method based on Hough transform. The method includes the following steps: listing several parameter sets, transmitting acceleration and angular velocity readings, calculating the matching degree, determining whether coarse alignment is complete, relisting the parameter sets, transmitting acceleration and angular velocity readings, calculating the matching degree, and determining whether precise alignment is complete. This invention does not require a dedicated mathematical model of the inertial navigation system and can universally measure the installation angle and delay time of various inertial navigation systems to achieve transfer alignment. Its outstanding advantage is its good versatility.

The application provides a data-driven lever arm error compensation method, and belongs to the technical field of inertial navigation. The application is used for solving the problem that the time-varying equivalent lever arm cannot be directly measured in the inertial navigation of a submerged vehicle, and it is also difficult to accurately separate the lever arm induced error from other sensor errors. The application comprises the following steps: S1, analyzing and modeling the errors affecting transfer alignment; S2, establishing a lever arm error equation and a data-driven compensation model; and S3, velocity error prediction and compensation.

This invention discloses a transfer alignment method based on a right-invariant error model using Lie groups, belonging to the field of inertial navigation systems. The method includes: first, referencing the navigation coordinate system, remodeling the right-invariant attitude and velocity errors based on Lie group theory to replace traditional transfer alignment errors, and incorporating sensor bias, lever arm and installation angle errors between the master and sub-inertial navigation systems to fully consider transfer alignment error sources; second, re-deriving the system state equations within the Lie group framework to decouple computational parameters from the system model; then, based on an "attitude + velocity" measurement matching scheme, re-deriving the system measurement equations within the Lie group framework; finally, addressing the nonlinear characteristics of the measurement equations, combining an unscented Kalman filter to accurately estimate the system state. The transfer alignment method proposed in this invention fully considers the objectively existing error sources between the master and sub-inertial navigation systems, improves system error modeling within the Lie group framework, and ensures that the system model accurately reflects the actual situation.