A Nonlinear Initial Alignment Method for Full Attitude Strapdown Inertial Navigation System
A strapdown inertial navigation and initial alignment technology, applied in the field of guidance and control, navigation, can solve problems such as different singularities
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[0081] The present invention will be further described below in conjunction with embodiment and accompanying drawing.
[0082] Step 1. Strapdown inertial navigation system coarse alignment: According to the angular velocity information measured by the inertial device gyroscope and the specific force information measured by the accelerometer, use the solidification analytical coarse alignment algorithm based on the gravity acceleration of the inertial system to obtain a rough Initial pitch angle θ in positive Euler angles 0 , roll angle γ 0 and heading angle ψ 0 ;
[0083] Step 2, the initial pitch angle θ obtained according to the step 1 0 , set the operating flag of the forward / inverse Euler angle direct method: if θ 0 ∈[-45°,+45°], then Flag=0, adopt the direct method of positive Euler angle; if θ 0 ∈[-90°,-45°)∪(45°,+90°], then Flag=1, using the direct method of inverse Euler angles;
[0084] Step 3. Initialization of the forward / inverse Euler angle direct method nonl...
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