Strapdown Inertial Navigation System, The Initial Alignment Method And Its Simulation

The original alignment precision impacts directly on the precision of the INS (inertial navigation system). The time used in original alignment processing is an important military tactics technique index of the INS. So the original alignment is one of the most important key technical of the INS.At present, the Kalman filter is the most well rounded and widely used filter. In this thesis, the general error model of the SINS is presented in detail with the study of error models and the analysis of observability. By means of Kalman filter techniques, error equation and measure equation of SINS are presented. We made the simulation on initial alignment of navigation system on stationary base in the lab.The text studies the initial alignment from two aspects, that is the quiet initial alignment and the transfer alignment. Thereinto, the quiet initial alignment is realized by the way of several-position alignment. The transfer alignment is realized by the way of velocity and attitude matching, and the fig emulator is carried through.