Research On The Initial Alignment Technology Of The Strapdown Inertial Navigation System For Underwater Vehicles

Strapdown inertial navigation technology has been widely used in military and civil fields because of its strong autonomy,high concealment,easy to carry and so on.For the weapon system,the initial alignment of strapdown inertial navigation system precision and speed are important reference indexes of weapon system,according to the specific work of the different tasks,some time,distance is short,the strapdown inertial navigation equipment requirements with the rapid response capability of missile or underwater weapons are equipped with equipment the initial high precision navigation equipment alignment task is not the same.First of all,this paper introduces the concepts and methods commonly used in the initial alignment technology of inertial navigation system,and explains the task requirements of the initial alignment technology of sins.Secondly,in order to solve the three problems of the fast alignment of the inertial navigation system,the adaptability of the small amplitude sloshing base environment and the independence of the satellite positioning information,a fast autonomous alignment method for the small amplitude sloshing base is proposed in this paper.The alignment precision mainly depends on the measurement of the magnetic compass and the gyroscope.Quantity precision.The algorithm is suitable for coarse alignment of low precision inertial navigation vehicles launched by high-speed and short time moving vehicles under underwater or underground environment.As long as the accuracy of gyro measurement is high,the accuracy of this method can meet the requirements of alignment accuracy of common missiles and underwater weapons.However,when the interference signal is too large in the large amplitude sloshing,the magnetic compass must be upgraded or the other external information can be used to ensure the alignment accuracy of the algorithm.Therefore,aiming at the initial alignment problem of the strapdown inertial navigation system under the sloshing base,this paper uses the attitude update to reflect the attitude change of the carrier under the sloshing interference,and carries out the alignment of the work and attitude at the same time,and realizes the initial alignment of the navigation system under the condition of large sloshing interference.The simulation results verify the feasibility of the method.