Novel Transfer Alignment of Shipborne Gimbaled Inertial Navigation Systems

作者：Ding, Zhijian^*; Cai, Hong; Yang, Huabo

来源：Transactions of the Japan Society for Aeronautical and Space Sciences, 2014, 57(2): 93-100.

DOI：10.2322/tjsass.57.93

• Gimbaled INS
• Transfer Alignment
• Frame Angle Matching
• Unscented Kalman Filter

Aiming at transfer alignment of gimbaled inertial navigation systems (INS) on a moving base, we propose an attitude matching alignment model to align the attitude of the slave platform. This method is achieved by applying an unscented Kalman filter to estimate the fixed misalignment angle, and the misalignment angle can be obtained only with attitude maneuvers, which are very easy for the ship to implement. Firstly, the frame dynamics equations are introduced. Then, frame angular error differential equations, which include the ship-body flexure and other alignment errors, are set up via the frame angle information from the master and the slave INS platform. With these frameworks, the nonlinear attitude matching alignment model is designed based on unscented Kalman filter technology. The simulation results show that the proposed method can obtain an alignment to an accuracy of 1.5' and alignment time of 50 sections.

• 出版日期2014-3
• 单位中国人民解放军国防科学技术大学