Research On Error Analysis And Processing Method Of Main Inertial Navigation In Transfer Alignment

In the 21 st century with rapid development of computer technology and inertial navigation theory,the superiority of strapdown inertial navigation system(SINS for short)gradually manifests.It connects the inertial measurement components(IMU,gyroscope and meter)to the carrier,thus eliminating the need for physical electromechanical platforms and other structures.The current research on transfer alignment is mainly reflected in the deflection deformation and lever arm compensation caused by non-rigid body motion.Usually,the main inertial navigation is regarded as high accuracy and error-free,and then the main sub inertial navigation information transmission is completed.Considering that during the navigation of the carrier,the main inertial navigation will switch to damping and dynamic overshoot will occur,which will cause alignment distortion.The current research is mainly to complete the smooth switching by processing the damping network.Considering that if the parameters of the main inertial navigation system are given the speed error and attitude error indexes,the main inertial navigation error can be directly introduced into the measurement information for simulation analysis.This paper intends to process the kalman filter(KF)measurement information caused by dynamic overshoot,and then improve the kalman filter data fusion process to improve the alignment speed,which can compensate for the processing measurement time delayed by failure.This topic first explains the research background and basic theory of inertial navigation.On the basis of the inertial navigation system,the equations of transmission attitude error,velocity error and position error transmitted by the strapdown inertial navigation system are established,and the table addition and gyroscope errors are modeled.The basic equations of discrete kalman filtering are introduced,and the state equation and measurement equation of velocity plus attitude matching transfer alignment are modeled.Then the theoretical analysis and simulation verification of the inertial navigation system damping problem are carried out.Through the analysis of the mechanism of periodic oscillation error,the necessity of adding damping network to the system and the selection of two basic damping networks are theoretically explained.The overshoot error caused by carrier maneuvering and damping switching and the factors affecting the overspeed error of damping of external velocity are analyzed in detail.Based on this,the impact of the switching between different damping states of the main inertial navigation system and the change of the external velocity constant error on the system output is simulated,and the chi-square detection technology is introduced to kalman caused by the dynamic overshoot of the main inertial navigation system.Filter the measurement information failure to detect.Finally,through the analysis of conventional adaptive filtering,a preferred algorithm for volume measurement is introduced,and the peak value of the dynamic overshoot error of the main inertial navigation is introduced into the measurement to simulate the transfer misalignment angle.In view of the fact that it takes a period of time for a fault to be processed,it proposes the idea of data multiplexing to improve the speed of state quantity convergence.Through the data fusion of the forward and reverse loop solution and the kalman filtering process,that is,the forward and reverse loop solution is added to each point solution(that is,each inertial navigation solution)to estimate the misalignment angle.By comparing and simulating the conventional transfer alignment and the improved fast alignment algorithm,the convergence of the state quantity estimation error is observed.