Research On Velocity And Attitude Matching Transfer Alignment

Transfer alignment is an important part of inertial technology.This paper mainly studies the speed and attitude matching algorithm.Firstly,the updating equation of the inertial navigation system and the error equation of the SINS are given.The error equation is briefly analyzed and simplified.The error model of the inertia device is given.The error equation is used to analyze the SINS.The error propagation mechanism is used to solve the simplified error equation by numerical integration method,and the correctness of the error equation and simplification is verified by the simulation results of the static pedestal.At the same time,the error equations used in the transfer alignment are deduced in the form of matrix and vector.Secondly,due to the existence of inertia device error and initial alignment error,the error of SINS will gradually increase,so it must be estimated and compensated,and the filter model is designed by velocity matching.The simulation results show that the estimation effect of the misalignment angle is not ideal,and the velocity and attitude matching model is established.The simulation results show that the misalignment angle.Thirdly,there is a certain installation distance between the MINS and the SINS,which will lead to the lever arm effect,other factors resulted from the carrier under flexural deformation,which will lead to the error of the misalignment angle and the installation error angle.Therefore,the influence of the lever arm and the deflection is analyzed,and the corresponding compensation method is given,and the system is simulated before and after the compensation.The simulation results show that the compensation accuracy can be improved by considering the misalignment angle and the installation error angle.The results show that the compensation accuracy of the misalignment angle and the installation error angle can be improved by the model.Finally,a piece-wise constant system(PWCS)method and an observability analysis method based on singular value decomposition are given.The 21-dimensional velocity plus attitude matching model is simulated in a variety of maneuvering modes.The variability of each state variable in the model is analyzed,and the state variables corresponding to the singular values are given.The observability of each state variable is obtained and a reasonable reduction of the higher order model is made.The simulation results show that the accuracy of the system after the reduction is not significantly decreased,indicating that the state deletion is a desirable method.