Method for initial alignment of inertial navigation system based on particle filtering

Abstract

The invention discloses a method for initial alignment of an inertial navigation system based on particle filtering, which comprises the following steps: establishing a horizontal attitude angle calculation model based on two positions; establishing a course angle calculation model based on two positions; establishing a non-linear initial alignment model based on two positions; constructing a Gaussian particle filter for initial alignment; and collecting output information of an inertia device with a navigation computer and completing filtering for initial alignment. The invention adopts the two-position method to eliminate constant errors of the inertial device, thereby avoiding the state expansion for the errors of the inertial device and reducing the dimensions of the initial alignment model while ensuring the alignment precision. Since the dimensions of the non-linear initial alignment model based on two positions are only three-dimensional, the invention is suitable for engineering application of the particle filtering algorithm in initial alignment, satisfies the real-time requirements of particle filtering in initial alignment of the inertial navigation systems, and improves the accuracy and speed of initial alignment of the inertial navigation system.

Description

technical field The invention belongs to the technical field of inertial navigation, relates to an initial alignment method for an inertial navigation system, and is suitable for autonomous initial alignment of a static base before the inertial navigation system works. Background technique The purpose of the initial alignment of the inertial navigation system is to establish the attitude relationship of the carrier coordinate system of the inertial navigation system relative to a certain reference coordinate system before the inertial navigation system enters the navigation working state. The initial alignment error is one of the main error sources of the inertial navigation system, which directly affects the working accuracy of the inertial navigation system. At the same time, the initial alignment time is an important tactical index reflecting the rapid response capability of the weapon system. Higher alignment accuracy often requires longer alignment time, and solving the...

AI Technical Summary

Problems solved by technology

The conventional initial alignment model uses the error equation of the inertial navigation system, the system dimension is high, and it is not suitable for the engineering application of particle filter

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