Research Of The Transfer Alignment Method And Experiment Base On Ship Strap-down Navigation System

Transfer alignment is a dynamic alignment, which uses high precision Master Inertial Navigation System (MINS) to calibrate the Slave Inertial Navigation System (SINS). The technology is more mature in airborne weapons and missiles, but the research on marine is in the theory phase. The paper bases on Marine INS characteristics and carrier movement laws to progress research on marine inertial navigation transfer alignment.First of all, start from the error propagation mechanism to infer the INS basic equations of inertial navigation alignment, also speed error equation, position error equation, and attitude error equation. The paper introduces inertial error model and gives details of kalman filter and extended kalman filter. Take the small misalignment angle and small installation error angle as research object ,Infer transfer alignment error model of velocity matching ,attitude matching and velocity plus attitude matching in detail. Then respectively give the simulation of every match method. Contrast alignment effect of three matching methods. The simulation results showed that alignment accuracy and profile matching alignment speed of velocity plus attitude matching method are both the best.Secondly, Starting from practically technical feasibility and effectiveness, this article study optical measurement methods of the hull deformation. Take the velocity matching for example to study the lever arm effect on transfer alignment. Contrast compensated arm effect simulation results with no compensation. Take the velocity plus attitude matching for example to study deformation modeling. Contrast compensated deformation simulation results with no compensation. Give the simulation about impact on transfer alignment of the MINS speed error and attitude error. The simulation results indicate that the impact of MINS attitude error on velocity plus attitude matching is serious. When the attitude error up to 0 .001rad,misalignment angle estimation will be distorted.Finally, Under laboratory existing equipment conditions and self-study FOG strapdown system performance, designed semi-physical validate test about velocity matching, attitude matching and velocity plus attitude matching. Experiments were carried out under swinging experiments, mooring experiments and uniform direct experiments. Considering each experimentation, the alignment results of velocity plus attitude matching is the best. The test data analysis indicates that the experiments have made the quite satisfactory progress. Experiments validated the validity of these matching methods.