The invention discloses a non-singular rapid transfer alignment method for any misalignment angle of a precise air-drop inertial navigation device, which comprises the following steps: after alignment is started, an airborne main inertial navigation device and the precise air-drop inertial navigation device respectively carry out attitude updating under an inertial system, and solve attitude matrixes # imgabs0 # and # imgabs1 # in an inertial navigation sampling period in real time; the method comprises the following steps: establishing a matching model of an angular velocity integral and a specific force integral in an inertial system based on angular velocity and specific force measurement of an airborne main inertial navigation device and a precise air-drop inertial navigation device; a Kalman filtering state equation is established, and Kalman filtering time updating is completed; constructing a measurement equation according to the obtained integral quantity in combination with a state equation; completing Kalman filtering measurement updating; the compensation of the attitude tracking error under the inertial system of the precise air-drop inertial navigation device is completed; and obtaining an attitude matrix at the alignment ending moment of the precise air-drop inertial navigation device. According to the method, transfer alignment can be rapidly completed under simple hovering maneuver of the aerial carrier.
本发明公开了精确空投惯导装置的任意失准角无奇异快速传递对准方法,包括:对准开始后,机载主惯导、精确空投惯导装置分别进行惯性系下的姿态更新,实时求解姿态矩阵#imgabs0#和#imgabs1#在惯导采样周期,基于机载主惯导和精确空投惯导装置的角速度、比力量测,建立惯性系内角速度积分和比力积分的匹配模型;建立卡尔曼滤波状态方程,完成卡尔曼滤波时间更新;根据得到的积分量,结合状态方程,构造量测方程;完成卡尔曼滤波量测更新;完成精确空投惯导装置惯性系下的姿态跟踪误差的补偿;获取精确空投惯导装置对准结束时刻姿态矩阵。本发明方法能够在载机简单盘旋机动下快速完成传递对准。
Arbitrary misalignment angle non-singular rapid transfer alignment method of precise air-drop inertial navigation device
精确空投惯导装置的任意失准角无奇异快速传递对准方法
2025-03-21
Patent
Electronic Resource
Chinese
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