航空科学技术2024，Vol.35Issue(11)：33-40,8.DOI:10.19452/j.issn1007-5453.2024.11.005
一种基于虚拟子惯导粗精分级修正的大失准角传递对准算法
A Transfer Alignment Algorithm Based on Virtual Slave Inertial Navigation Grading Correction between Rough and Fine with Large Misalignment Angles
摘要
Abstract
With the increasing requirement of rapid reaction ability and effective killing ability in modern war,the importance of transfer alignment technology is becoming more and more prominent.But in the process of transfer alignment,there are often severe nonlinear problems caused by large misalignment angles.To solve this problem,a transfer alignment method based on grading correction with large misalignment angle is proposed.The idea of this paper is inspired by grading correction,first designing a coarse alignment algorithm based on singular value decomposition,in the process of coarse alignment,taking advantage of the inertial measurement unit(IMU)output of the master inertial navigation system(INS)and slave INS to roughly estimate the installation angle error matrix;Secondly,by installing angle error matrix,the coordinate system of slave INS is rotated to a virtual transition coordinate system,and a virtual slave INS is established,then transforming the original large misalignment angle problem into a small misalignment angle problem;Finally,fine alignment is started between the virtual slave INS and the master INS,and the corrected virtual slave INS is rotated back to the slave INS to complete the transfer alignment.The simulation experiment incorporates the influence of Flexure angle and lever arm error,and the results show that the proposed algorithm has an alignment error of no more than 3'at the micro mechanical level.Compared with nonlinear filtering algorithms,it reduces algorithm complexity and improves alignment accuracy.关键词
传递对准/大失准角/分级修正/挠曲误差/杆臂误差Key words
transfer alignment/large misalignment/grading correction flexure error/lever arm error分类
航空航天引用本文复制引用
邹望,付强文,肖禄琪,李炽融..一种基于虚拟子惯导粗精分级修正的大失准角传递对准算法[J].航空科学技术,2024,35(11):33-40,8.基金项目
航空科学基金(2023Z022053001) Aeronautical Science Foundation of China(2023Z022053001) （2023Z022053001）
