The Research Of Angular Rate Aiding Inertial Navigation System Transfer Alignment And Accuracy Evaluation Method

Transfer alignment is a fast initial alignment technology of strapdown inertial navigation system on moving base.Put the difference between the main and the sub inertial navigation system into the filter,in order to complete the fast initial alignment.The traditional Kalman filter technology is limited by the noise of ship flexure deformation reduced the performance of filter even divergence.H? filter has good robustness,to ensure the availability of filter in the worst case,solving the noise problem well.Influenced by the master inertial navigation system error of inertial device of ship interference,deflection,lever arm effect,mobility,etc.So there is an error of the alignment,which directly affect the operational performance of shipborne weapons.In order to accurately assess the alignment error of sins at the end of alignment,promoting the emergence and development of the transfer alignment accuracy evaluation.This has a important practical significance for the evaluation of the quality of the transfer alignment scheme and improving the operational performance of shipborne weapons.How to improve the alignment accuracy evaluation algorithm of transfer,improve the assessment accuracy has become an important research topic.The research object of this paper is the sub inertial navigation system of shipborne weapons,establish the mathematical model of matching method of transfer alignment,comparative analysis of the classic “velocity + attitude” and “velocity + angular rate” matching method of two kinds of transfer alignment.In order to solve the problem of angular rate influenced by the ship flexure deformation,completed the design of H? suboptimal filter based on “velocity + angular velocity” transfer alignment algorithm,and conducted simulation analysis,the simulation results show the feasibility of the algorithm.Analysis the Kalman fixed point accuracy smoothing and Kalman fixed interval smoothing algorithm for transfer alignment accuracy evaluation theoretically,simulate and analysis of the traditional DGPS system based on the transfer alignment accuracy evaluation algorithm.The simulation results show that the traditional algorithm for weak maneuvering performance such as ship heading misalignment angle estimation accuracy is poor.Aiming at the heading misalignment angle estimation observability degree is low,the problem of poor quality,introduce the main inertial angular rate information assisted DGPS system,construct the “velocity + position + angular rate” matching method,to increase the observability of heading loss angle.Effectively reduce the requirements for mobility of the traditional “velocity + position” matching based on DGPS system transfer alignment accuracy evaluation algorithm.However,due to the introduction of the angular rate information of main inertial system,lead to the accuracy assessment are susceptible to the interference of the ship flexure deformation,reduced the accuracy assessment.In order to solve this problem,from the angular rate double integral matching in the field of transfer alignment,completed the design of the master sins angular rate double integral information assisted DGPS system transfer alignment accuracy evaluation algorithm,conducting simulation and text.The simulation results showed that this algorithm can not only reduce mobility requirements of the weak maneuvering performance carrier such as ship,but also overcome the interference caused by the flexure deformation.It is a kind of effective transfer alignment accuracy evaluation algorithm.