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The Arithmetic of SINS Initial Alignment on Azimuth Rotation and Large Misalignment Angles

Author: ZhaoWenFang
Tutor: ZhaoWei
School: Nanjing University of Aeronautics and Astronautics
Course: Detection Technology and Automation
Keywords: SINS Initial alignment Observability analysis Singular Value Decomposition Nonlinear filtering
CLC: V249.322
Type: Master's thesis
Year: 2008
Downloads: 412
Quote: 4
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Abstract


Inertial navigation system with a fully self-aligned characteristics , the initial alignment accuracy and alignment time a direct impact on the work of the inertial navigation system accuracy and reaction time . Therefore , the alignment accuracy and alignment speed are two important indicators of the initial alignment of inertial navigation . Paper to further improve the strapdown inertial navigation system, the initial alignment accuracy and speed of the program and algorithm research , is of great significance to improve the performance of the strapdown inertial navigation system . Thesis SINS static base time observability characteristics of the continuous rotational orientation of the shaft of the initial alignment . Piecewise constant system observability analysis theory and singular value decomposition analysis methods to analyze the impact of different angular motion of the system observability and quantitative comparison of the different aligned with the way the system state considerable measure . Coarse alignment misalignment angle for the amount of small-angle simulation comparative study of the different alignment methods , the results show that the estimation accuracy of the the continuous rotational orientation of the shaft initial alignment of azimuth misalignment angle representing the position at the ways to enhance doubled . To reduce the alignment time , the paper presents the SINS initial alignment programs directly in large misalignment angle , apply to a tremendous loss of quasi- angle alignment nonlinear error model and filter algorithm . Derived additive quaternion - based system error model , the simulation results show that the error model is applicable to three misalignment angle for large angle initial attitude error equation the SINS system in the large misalignment angle , alignment system . Simplified linear observation equation for the initial alignment of strapdown inertial navigation system Unscented Kalman filter (UKF) algorithm with extended Kalman filter (EKF) comparative study of the initial alignment simulation results show that the UKF convergence speed and accuracy were better than EKF. On the basis of theoretical analysis and simulation , the papers distributed system architecture design development SINS initial alignment simulation software SINS initial alignment program , verify effective means and the environment.

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CLC: > Aviation, aerospace > Aviation > Aircraft instrumentation,avionics, flight control and navigation > Flight control system and navigation > Navigation > Navigation system > Inertial navigation system
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