Airborne distributed inertial attitude measurement system and transfer alignment method of airborne distributed inertial attitude measurement system

Abstract

The invention relates to an airborne distributed inertial attitude measurement system and a transfer alignment method of the airborne distributed inertial attitude measurement system. The airborne distributed inertial attitude measurement system comprises a master inertial navigation system, a main control computer, and six slave inertial navigation systems connected with the main control computer, wherein each slave inertial navigation system respectively comprises an inertial measurement unit and an attitude measurement processing board, each inertial measurement unit is connected with an RS_422 interface of the corresponding attitude measurement processing board, each RS_422 interface is connected with an FPGA (Field Programmable Gate Array) chip through a UART (Universal Asynchronous Receiver / Transmitter) control chip, each FPGA chip is connected with a DSP (Digital Signal Processor) chip through an EMIF (External Memory Interface) bus and also connected with the master inertial navigation system through a CAN (Control Area Network) controller and a CAN transceiver, and the main control computer is connected with the master inertial navigation system. The transfer alignment method between the master inertial navigation system and each slave inertial navigation system of the airborne distributed inertial attitude measurement system comprises the steps of: by taking the speed information error and the attitude information error of the master inertial navigation system and the slave inertial navigation systems as measuring variables, correcting speed information and attitude information calculated by the slave inertial navigation systems after carrying out Kalman filtering iteration, and finally obtaining stable and accurate navigation attitude information.

Description

1. Technical field [0001] The invention belongs to the technical field of inertial attitude measurement, in particular to an airborne distributed inertial attitude measurement system and a transfer alignment method thereof. 2. Background technology [0002] Facing the rapidly changing air situation, the pilot must find the target in the most agile way and choose the most effective way to attack. In order to enhance the pilot's field of vision and observation of the outside world, six optical sensors for imaging are installed on the aircraft to provide a 360° full-dimensional situational awareness capability, and ultimately be able to collect various information within a 360° range. However, the line of sight of the optical detector used for imaging must produce a certain degree of random jitter with the vibration of the carrier. This kind of vibration will cause obvious shaking of the image, and it will also have a great impact on the image stitching between several detecto...

AI Technical Summary

Problems solved by technology

[0003] If a high-precision IMU is installed at each sensor position, the accuracy can meet the requirements of long-term flight, but if six high-precision IMUs are installed, the cost will increase significantly, and the high-precision IMU must be too large to meet the requirements. The airborne system requires limited space; if only a low-cost, small-sized IMU is installed at each sensor position, due to its low accuracy, measurement errors accumulate over time, and the accuracy is difficult to meet the requirements

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