Alignment method for eliminating lever arm effect error of strapdown inertial navigation system (SINS) of underwater carrier

Abstract

The invention aims to provide an alignment method for eliminating the lever arm effect error of a strapdown inertial navigation system (SINS) of an underwater carrier. The method comprises the following steps: firstly, a main inertial navigation system and a subsidiary inertial navigation system are connected together; the initial speed parameter and the initial position parameter of the main inertial navigation system are bound in a navigation computer of the subsidiary inertial navigation system; the initial attitude of the subsidiary inertial navigation system is roughly calculated to complete one-step transmission between the main inertial navigation system and the subsidiary inertial navigation system; Kalman filtering is used to estimate a misalignment angle; and finally, the attitude array of the subsidiary inertial navigation system is corrected to obtain the accurate initial attitude angle of the underwater carrier so as to complete initial alignment of the system. The alignment method of the invention can effectively solve the problem of lever arm effect error compensation and improve the initial alignment precision of the SINS of the underwater carrier.

Description

technical field [0001] The invention relates to an alignment method in the navigation field. Background technique [0002] Due to its high precision, good reliability, and low cost, the strapdown inertial navigation system has been widely used in the fields of aerospace, aviation, and navigation, especially for underwater vehicles. The strapdown inertial navigation system of the underwater vehicle must be initially aligned before it is put into use, and the purpose is to determine the attitude of the vehicle at the initial moment. The initial alignment directly affects the accuracy and response time of the SINS, so the initial alignment of the SINS must be performed quickly and accurately. [0003] Ships will be disturbed by gusts, ocean currents, waves, etc. during navigation, making the initial alignment of the SINS of underwater vehicles very complicated, making it difficult to effectively complete self-alignment. A high-precision main inertial navigation system is usua...

AI Technical Summary

Problems solved by technology

[0004] In the practical application of transfer alignment, it is considered that the main inertial navigation system is installed at the swing center of the carrier, but usually the sub-inertial navigation system is not installed at the swing center of the carrier, or even has a long distance from the swing center, so the main and sub-inertial navigation systems The accelerometers in the guidance system are sensitive to different accelerations, causing differences in the accelerometer measurements, i.e. the lever-arm effect in the transfer alignment

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