The Technology Of Rapid Alignment Of Attitude In Strapdown Navigation System

The inertial navigation system is a kind of independent system that does not need external information. If given initial condition, such as initial speed, position, etc., it can calculate out various kinds of parameters of navigating according to accelerate and horn speed measured by the inertia sensitive system real time. Because the platform is the foundation of the ship's acceleration, so, it is very important that the platform is alignment at initially. This paper discussed the principle of the stapdown navigation system, error model, and the method and application.According to the principle of the inertial navigation system, the method of transfer alignment may be divided two big classes, one is calculated parameter matching, it including speed matching, position matching; Another is measurement parameter matching, including acceleration matching, attitude matching, and angular speed matching. Combining the research subject of our laboratory, our research aimed to the transfer alignment of ship's strapdown navigation system; (l)The method of transfer alignment. (2) two kinds of error model of system ; (3)Study the transfer alignment at the condition of carrier-borne uniform velocity , accelerate , turn round and waving; (4)An improved rapid transfer alignment algorithm formulation in marine navigation system is studied, This improvement takes advantage of angular rate and velocity data, available from marine inertial navigation system(master INS),is matched with the data from the slave system's INS via a Kalman filter. The simulation aiming at three styles marine's weapon demonstrate the estimate of the misalignment angle was precise in 40 seconds. And the precision of attitude alignment errors will be increased if adding RTS arithmetic in transfer alignment filter.; (5)AHgnment of the ship's strapdown inertial navigation system using H filter; (6) When the course isuncertain in advance , the non-linear error equation is used in transfer alignment; (7)Utilize a strapdown attitude and heading reference system in our laboratory make static and wave test, to prove the speed matching is doable.