New method for rapid transfer alignment
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摘要: 针对惯性导航系统的动基座传递对准问题,提出了速度加姿态加角速率组合匹配法.用来自主、子惯导的3组参数信息作观测量,通过卡尔曼滤波法迅速准确地估计出失准角及安装误差角等状态量,以便精确地对子惯导系统进行初始化.根据传递对准的基本原理,设计了载体结构挠曲运动统计模型,建立了状态方程及量测方程.同条件仿真结果表明:这种方法与速度加姿态匹配和速度加角速率匹配的对准精度相当,但估计速度约为这两种方法的2倍.可用于机载或舰载战术导弹武器系统,有效减小导航误差和制导误差.Abstract: To solve the transfer alignment problem on moving base of inertial navigation systems (INS), velocity plus attitude plus rate matching method was presented. Making use of three groups of parameters from both master and slave INS as the observations, Kalman filter was applied to estimate states such as the misalignment angle and the fixed installation error rapidly and exactly for the precise initialization of the slave INS. A statistic structural flexure movement model was introduced. According to the basic principle of transfer alignment, the state equation and the measurement equation were given in detail. Simulation results under the same conditions show that this scheme is as accurate as the velocity plus attitude matching and velocity plus rate matching. Besides, its evaluation time is only half of the other two's. It can be used on airborne and seaborne tactical missiles to reduce the navigation bias and guidance error effectively.
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