Inertial navigation alignment performance evaluation method based on main inertial navigation attitude variation quantity assistance

Abstract

The invention discloses an inertial navigation alignment performance evaluation method based on main inertial navigation attitude variation quantity assistance. The method comprises the following steps of implementing preheating preparation; performing navigation solution on a main inertial navigation system and a secondary inertial navigation system respectively; constructing a measurement equation of attitude variation quantity; constructing a performance evaluation measurement equation; performing Kalman filtration solution; performing reverse smoothing estimation; acquiring an attitude misalignment angle at a transfer alignment ending moment so as to realize alignment precision evaluation of transfer alignment of the inertial navigation system of a ship-borne weapon. The invention designs the inertial navigation alignment performance evaluation method based on the main inertial navigation attitude variation quantity assistance, linear motion information of GDPS position and speed is taken as main reference information, and the main inertial navigation attitude variation quantity is taken as auxiliary reference information, so that the requirements of accuracy evaluation on mechanical strength of a carrier can be reduced; integral output based on angular rate is taken as an observed value, so the influences on the inertial navigation alignment performance evaluation effect caused by external environmental interferences can be effectively inhibited, and the inertial navigation alignment accuracy evaluation performance of the ship-borne weapon can be improved.

Description

technical field [0001] The invention relates to an inertial navigation alignment performance evaluation method based on the main inertial navigation attitude variation assistance, in particular to a precision evaluation method for shipboard weapon strapdown inertial navigation system transfer alignment. Background technique [0002] Initial alignment is a key system technology that must be completed before the inertial navigation system enters the navigation working state, and the accuracy and time of initial alignment directly affect the navigation accuracy and start-up preparation time of the inertial navigation system. For carrier-based aircraft and other ship-based weapon systems, due to the rapidity of combat missions, the inertial navigation system must achieve accurate initial alignment in a short time. [0003] The traditional autonomous initial alignment has the problem of conflicting alignment accuracy and alignment time, and is not suitable for moving base applica...

AI Technical Summary

Problems solved by technology

[0007] The traditional method has high requirements on the maneuverability of the ship, and when the attitude output of the main inertial navigation system is introduced as an auxiliary, although the requirements on the maneuverability of the carrier can be reduced, since the attitude information contains Schuler, Foucault and earth period oscillation errors , when the evaluation timing is inappropriate, the oscillation error of the main inertial navigation system will reduce the alignment performance evaluation effect

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