A Transfer Alignment Method for Large Misalignment Angles Considering Deflection Deformation and Lever-arm Effect

Abstract

The invention proposes a large misalignment angle transfer alignment method considering deflection deformation and lever arm effect. First, the integrated error equation of deflection deformation and lever-arm effect in inertial system is derived. Then, a nonlinear transfer alignment model based on Rodrigue parameters is established. Finally, according to the partial nonlinear characteristics of the model, the edge square root volumetric Kalman filter is designed, and the linear time update is performed through the square root filter, and the nonlinear measurement update is performed through the square root volumetric Kalman filter, so as to realize the estimation of the misalignment angle. The invention can effectively compensate the deflection deformation and the error of the dynamic lever arm, improve the alignment accuracy, and has stable filtering characteristics and good real-time calculation.

Description

technical field [0001] The invention relates to the technical field of strapdown inertial navigation, in particular to a large misalignment angle transfer alignment method considering flexural deformation and lever-arm effect. Background technique [0002] With the increasing requirements for the precise strike capability and rapid response capability of weapons and equipment in modern warfare, high-precision and rapid alignment technology is becoming more and more important for the navigation system of tactical-level weapons. In the shipborne environment, the transfer alignment method using high-precision main inertial navigation information for alignment has become the main solution for the alignment of the sub-inertial navigation system by virtue of its advantages of high precision and rapidity. [0003] In the actual transfer alignment process, the lever arm effect caused by the different installation positions of the main and sub inertial navigation systems is an import...

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Problems solved by technology

[0005] In the paper "Research on Nonlinear Model of Transfer Alignment at Large Azimuth Misalignment Angle" (published in "Control and Decision", 2011, Vol. 26, No. 3), Gao Qingwei et al. A nonlinear transfer alignment model integrating bending deformation and lever-arm effect, but this model does not model the actual misalignment angle and fails to achieve combined matching alignment

In the article "Application of Simplified Higher-Order CKF Based on Edge Sampling in Nonlinear Fast Transfer Alignment" (published in "Acta Aeronautical Sciences", 2019, Vol. 40, No. 3), a speed-based Combined matching with attitude and nonlinear rapid transfer alignment integrated model, but the attitude description with Euler angle as the large misalignment angle will be limited by singularity and transcendental function

In "Research on Rapid Alignment Technology of Fiber Optic Strapdown Inertial Navigation System" (Harbin Engineering University, 2019), Duan Tenghui derived a fast transfer alignment model based on quaternions with large misalignment angles. The angle rotation description is more accurate, etc., but due to the redundant nature of the quaternion, the amount of calculation is increased, and it is difficult to take into account the unit modulus constraint of the quaternion when filtering.

In the article "A unified model for transfer alignment at random misalignment angles based on second-order EKF" (published in "Measurement & Technology", 2017, Vol. 28, No. 4), Cui X et al. proposed that in the framework of inertial frame Based on the idea of ​​transfer alignment, a large misalignment angle transfer alignment model based on Rodrigue parameters is established, but the comprehensive influence of deflection deformation and lever arm effect is not considered

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