CN109724624A - A kind of airborne adaptive Transfer alignment algorithm suitable for wing flexure deformation - Google Patents
A kind of airborne adaptive Transfer alignment algorithm suitable for wing flexure deformation Download PDFInfo
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Abstract
The invention discloses a kind of airborne adaptive Transfer alignment algorithms suitable for wing flexure deformation, are related to aerospace strap-down inertial technical field.The present invention calculates sub- inertial navigation initial position, speed, posture information according to airborne main inertial navigation information, and carries out inertial navigation strapdown resolving；According to flying height, to observation noise RkIt is adjusted, and the alignment for carrying out sub- inertial navigation resolves, and realizes the adaptive of filtering algorithm, effectively improves adaptive capacity to environment and alignment precision that speed adds attitude matching algorithm；Algorithm is not only realized simply, reliable for operation, and rapidity is good, adaptivity is strong, has preferable engineering application value.
Description
Technical field
The present invention relates to aerospace strap-down inertial technical fields, are specifically related to a kind of suitable for wing flexure change
The airborne adaptive Transfer alignment algorithm of shape.
Background technique
Strapdown inertial navigation system has many advantages, such as short reaction time, high reliablity, small in size, light-weight, extensive use
In the dual-use navigation field such as aircraft, naval vessel, guided missile, there is important national defence meaning and huge economic benefit.
Inertial navigation system Transfer Alignment on air weapon refers under the conditions of aircraft motion, the inertial navigation system on air weapon
The method being initially aligned using the main inertial navigation system information of high-precision for being in navigational state on aircraft.It can be quick and accurate
Ground is initially directed at the inertial navigation system on air weapon, largely decides weapon system in the optimal in structures such as aircraft
The fast reaction of system and precision strike capability.Therefore, moving base transfer alignment technique is the motion platforms such as aircraft, naval vessel, submarine
A key technology of weapon delivery.
Conventional transmission alignment algorithm generally uses " speed adds attitude matching ", although which has many good qualities, but
Be it is very big by wing influence of crust deformation, especially aircraft floor acceleration climb section and Aircraft Air high maneuver when influence it is very bright
It is aobvious, to influence alignment precision.
Summary of the invention
The purpose of the invention is to overcome the shortcomings of above-mentioned background technique, provide it is a kind of suitable for wing flexure deformation
Airborne adaptive Transfer alignment algorithm can be realized in the big deformation of wing and precisely align, to air maneuver when reducing alignment
It is required that.
The present invention provides a kind of airborne adaptive Transfer alignment algorithm suitable for wing flexure deformation, including following step
It is rapid:
Sub- inertial navigation initial position, speed, posture information are calculated according to airborne main inertial navigation information, and carries out inertial navigation strapdown solution
It calculates；
According to flying height, to observation noise RkIt is adjusted, and the alignment for carrying out sub- inertial navigation resolves.
On the basis of above scheme, when takeoff airfoil becomes larger, make filter work in speeds match mode
Under, by observation noise RkMiddle posture respective items tune up；When airfoil stabilizes after aircraft lift-off, add filter work in speed
Under attitude matching mode, by observation noise RkMiddle posture respective items are turned down.
It is described that sub- inertial navigation initial position, speed, posture are calculated according to airborne main inertial navigation information on the basis of above scheme
Information, specifically includes the following steps:
According to the data that airborne main inertial navigation issues, the initial value of the sub- inertial navigation of missile-borne is initialized；
Quaternary number initial value is calculated according to the airborne attitude data of initial runtime, it is as follows to define attitude quaternion:
Q(q0,q1,q2,q3)=q0+q1i+q2j+q3k
Calculation formula is as follows:
Wherein: q0(0),q1(0),q2(0),q3It (0) is the sub- inertial navigation attitude quaternion initial value of missile-borne, dimensionless；γ, ψ are
Pitch angle, roll angle and yaw angle initial value are taken from main inertial navigation and correspond to moment value, unit: radian.
On the basis of above scheme, according to the data that airborne main inertial navigation issues, the initial value of the sub- inertial navigation of missile-borne is carried out just
Beginningization, specifically includes the following steps:
Position and speed carries out assignment with the value of airborne main inertial navigation:
Ls0=Lm
λs0=λm
hs0=hm
Wherein: Ls0,λs0,hs0,For the sub- inertial navigation geographic latitude of missile-borne, longitude, height, east orientation speed, north orientation
Speed and sky orientation speed initial value, unit are respectively as follows: radian, radian, rice, meter per second, meter per second, meter per second；Lm,λm,hm,It is single for geographic latitude, longitude, height, east orientation speed, north orientation speed and sky orientation speed that airborne main inertial navigation issues
Position is respectively as follows: radian, radian, rice, meter per second, meter per second, meter per second.
On the basis of above scheme, the progress inertial navigation strapdown resolving, specifically includes the following steps:
Carry out posture renewal calculating:
Wherein: Δ θx,Δθy,ΔθzFor three shaft angle increment of this system, unit: radian；
q0(tk+1),q1(tk+1),q2(tk+1),q3(tk+1) it is the updated attitude quaternion of recursion；
q0(tk),q1(tk),q2(tk),q3(tk) be recursion update before attitude quaternion；
It carries out speed and updates calculating:
Wherein: Δ Vx,ΔVy,ΔVzFor the apparent velocity increment in three directions of missile coordinate system, unit: meter per second；
For the north orientation of recursion next step, day to east orientation speed, unit is equal are as follows: meter per second；
It is north orientation, day to the aceleration of transportation with east orientation, unit: meter per second2；
It is north orientation, day to the Corioli's acceleration with east orientation, unit: meter per second2；
gkFor current acceleration of gravity, meter per second2；
Carry out location updating calculating:
Wherein: Lk,λk,hkFor geographic latitude, longitude and the height value currently walked, unit is respectively as follows: radian, radian and rice；
Lk+1,λk+1,hk+1For the geographic latitude of recursion next step, longitude and height value, unit be respectively as follows: radian, radian with
Rice；
For the north orientation, east orientation and sky orientation speed currently walked, unit is equal are as follows: meter per second.
On the basis of above scheme, the alignment for carrying out sub- inertial navigation is resolved, specifically includes the following steps:
Step 201, moving base Transfer Alignment is carried out using Kalman filtering, sub- inertial navigation posture misalignment is estimated；
Choose posture misalignment, east orientation and north orientation speed error, 3 axis gyroscopic drifts and the conduct of installation deviation angle of sub- three axis direction of inertial navigation
State vector:
X=[φx,φy,φz,δVE,δVN,εx,εy,εz,ψx,ψy,ψz]T
Wherein: X is system mode；
φx,φy,φzFor sub- inertial navigation posture misalignment, unit: radian；
δVE,δVNFor sub- inertial navigation east orientation, north orientation speed error, unit: meter per second；
εx,εy,εzFor the drift of sub- inertial navigation three axis accelerometer, unit: radian per second；
ψx,ψy,ψzFor sub- three axis installation deviation angle of inertial navigation, unit: radian；
Step 202, according to sub- inertial navigation umber of pulse and sub- inertial navigation instrumental error penalty coefficient matrix, a sampling period is calculated
thThe three axle speed increment of this system of interior sub- inertial navigation, is denoted as: Δ V respectivelyx,ΔVy,ΔVz, then navigation is apparent velocity incremental computations
Formula are as follows:
Wherein:It is three axle speed increments for navigation；
Step 203, carry out state-transition matrix update: the continuous item that state-transition matrix calculates in real time is as follows:
Wherein:To add angular speed, using the value of main inertial navigation information calculating；
Ak(1:3,1:3) is matrix Ak1 to 3 row and 1 to 3 column constitute 3 × 3 matrixes；
Ak(1:3,6:8) is matrix Ak1 to 3 row and 6 to 8 column constitute 3 × 3 matrixes；
Step 204, time update is filtered to calculate:
Xk/k-1=Ak/k-1Xk-1
Wherein: Xk/k-1For next step predicted state；
Pk/k-1To predict mean square deviation in next step；
QkFor process noise covariance matrix；
Step 205, be observed vector update: its observation calculates as follows:
Wherein:For the sub- inertial navigation east orientation of missile-borne, north orientation speed, unit: meter per second；
For airborne main inertial navigation east orientation, north orientation speed, unit: meter per second；
Step 206, it is observed matrix update:
Observed relationships matrix HkIt initializes as follows:
The continuous item that it needs to calculate in real time is as follows:
Step 207, it is filtered measurement updaue calculating:
Pk=(I-KkHk)Pk/k-1
Xk=Xk/k-1+Kk(Zk-HkXk/k-1)
Wherein: KkFor filtering gain；
PkTo estimate mean square deviation matrix；
XkTo filter estimated state vector；
RkTo measure noise, by judging cruising altitude, R is adjustedkMiddle posture corresponds to item size, makes to be aligned in speed
Match and speed adds and switches between attitude matching.
On the basis of above scheme, according to flying height, to observation noise RkIt is adjusted, and carries out pair of sub- inertial navigation
Standard resolves, further comprising the steps of: measuring update and completes after resolving, will filter estimated state vector Xk+1With estimation mean square deviation square
Battle array Pk+1The update for being assigned to next period as initial value calculates.
On the basis of above scheme, moving base Transfer Alignment is carried out using Kalman filtering, by sub- inertial navigation posture misalignment
Angular estimation comes out, and accelerometer drift, accelerometer and gyroscope zero bias are random constant value.
Compared with prior art, advantages of the present invention is as follows:
The present invention calculates sub- inertial navigation initial position, speed, posture information according to airborne main inertial navigation information, and carries out inertial navigation victory
Connection resolves；According to flying height, to observation noise RkIt is adjusted, and the alignment for carrying out sub- inertial navigation resolves, and realizes filtering algorithm
It is adaptive, effectively improve adaptive capacity to environment and alignment precision that speed adds attitude matching algorithm；Algorithm is not only realized
Simply, reliable for operation, and rapidity is good, adaptivity is strong, has preferable engineering application value.
Detailed description of the invention
Fig. 1 is that the process of the airborne adaptive Transfer alignment algorithm for being suitable for wing flexure deformation of the embodiment of the present invention is shown
It is intended to；
Fig. 2 is that the principle of the airborne adaptive Transfer alignment algorithm for being suitable for wing flexure deformation of the embodiment of the present invention is shown
It is intended to.
Specific embodiment
With reference to the accompanying drawing and specific embodiment the present invention is described in further detail.
Shown in Figure 1, the embodiment of the present invention provides a kind of airborne adaptive transmitting pair suitable for wing flexure deformation
Quasi- algorithm, comprising the following steps:
Sub- inertial navigation initial position, speed, posture information are calculated according to airborne main inertial navigation information, and carries out inertial navigation strapdown solution
It calculates；
According to flying height, to observation noise RkIt is adjusted, and the alignment for carrying out sub- inertial navigation resolves.
As preferred embodiment, according to flying height, to observation noise RkIt is adjusted, specifically includes following step
It is rapid: when takeoff airfoil becomes larger, to make filter work under speeds match mode, by observation noise RkMiddle posture is corresponding
Item tunes up；When airfoil stabilizes after aircraft lift-off, make filter work in the case where speed adds attitude matching mode, by observation noise
RkMiddle posture respective items are turned down.
The embodiment of the present invention calculates sub- inertial navigation initial position, speed, posture information according to airborne main inertial navigation information, and carries out
Inertial navigation strapdown resolves；According to flying height, observation noise is adjusted, and the alignment for carrying out sub- inertial navigation resolves, and realizes filtering
Algorithm it is adaptive, effectively improve adaptive capacity to environment and alignment precision that speed adds attitude matching algorithm；Algorithm is not only
It realizes simply, it is reliable for operation, and also rapidity is good, adaptivity is strong, has preferable engineering application value.
It is described that sub- inertial navigation initial position, speed, posture are calculated according to airborne main inertial navigation information as preferred embodiment
Information, specifically includes the following steps:
According to the data that airborne main inertial navigation issues, the initial value of the sub- inertial navigation of missile-borne is initialized；Position and speed with
The value of airborne main inertial navigation carries out assignment:
Ls0=Lm
λs0=λm
hs0=hm
Wherein: Ls0,λs0,hs0,For the sub- inertial navigation geographic latitude of missile-borne, longitude, height, east orientation speed, north orientation
Speed and sky orientation speed initial value, unit are respectively as follows: radian, radian, rice, meter per second, meter per second, meter per second；Lm,λm,hm,It is single for geographic latitude, longitude, height, east orientation speed, north orientation speed and sky orientation speed that airborne main inertial navigation issues
Position is respectively as follows: radian, radian, rice, meter per second, meter per second, meter per second.
Quaternary number initial value is calculated according to the airborne attitude data of initial runtime, it is as follows to define attitude quaternion:
Q(q0,q1,q2,q3)=q0+q1i+q2j+q3k
Calculation formula is as follows:
Wherein: q0(0),q1(0),q2(0),q3It (0) is the sub- inertial navigation attitude quaternion initial value of missile-borne, dimensionless；γ, ψ are
Pitch angle, roll angle and yaw angle initial value are taken from main inertial navigation and correspond to moment value, unit: radian.
As preferred embodiment, the progress inertial navigation strapdown resolving, specifically includes the following steps:
Carry out posture renewal calculating:
Wherein: Δ θx,Δθy,ΔθzFor three shaft angle increment of this system, unit: radian；
q0(tk+1),q1(tk+1),q2(tk+1),q3(tk+1) it is the updated attitude quaternion of recursion；
q0(tk),q1(tk),q2(tk),q3(tk) be recursion update before attitude quaternion；
It carries out speed and updates calculating:
Wherein: Δ Vx,ΔVy,ΔVzFor the apparent velocity increment in three directions of missile coordinate system, unit: meter per second；
For the north orientation of recursion next step, day to east orientation speed, unit is equal are as follows: meter per second；
It is north orientation, day to the aceleration of transportation with east orientation, unit: meter per second2；
It is north orientation, day to the Corioli's acceleration with east orientation, unit: meter per second2；
gkFor current acceleration of gravity, meter per second2；
Carry out location updating calculating:
Wherein: Lk,λk,hkFor geographic latitude, longitude and the height value currently walked, unit is respectively as follows: radian, radian and rice；
Lk+1,λk+1,hk+1For the geographic latitude of recursion next step, longitude and height value, unit be respectively as follows: radian, radian with
Rice；
For the north orientation, east orientation and sky orientation speed currently walked, unit is equal are as follows: meter per second.
Shown in Figure 2 as preferred embodiment, the alignment for carrying out sub- inertial navigation resolves, and specifically includes following
Step:
Step 201, moving base Transfer Alignment is carried out using Kalman filtering, sub- inertial navigation posture misalignment is estimated,
Accelerometer drift, accelerometer and gyroscope zero bias are random constant value.
Posture misalignment, east orientation and north orientation speed error, 3 axis gyroscopic drifts and the installation for choosing sub- three axis direction of inertial navigation are inclined
Declinate is as state vector:
X=[φx,φy,φz,δVE,δVN,εx,εy,εz,ψx,ψy,ψz]T
Wherein: X is system mode；
φx,φy,φzFor sub- inertial navigation posture misalignment, unit: radian；
δVE,δVNFor sub- inertial navigation east orientation, north orientation speed error, unit: meter per second；
εx,εy,εzFor the drift of sub- inertial navigation three axis accelerometer, unit: radian per second；
ψx,ψy,ψzFor sub- three axis installation deviation angle of inertial navigation, unit: radian；
Step 202, according to sub- inertial navigation umber of pulse and sub- inertial navigation instrumental error penalty coefficient matrix, a sampling period is calculated
thThe three axle speed increment of this system of interior sub- inertial navigation, is denoted as: Δ V respectivelyx,ΔVy,ΔVz, then navigation is apparent velocity incremental computations
Formula are as follows:
Wherein:It is three axle speed increments for navigation；
Step 203, carry out state-transition matrix update: the continuous item that state-transition matrix calculates in real time is as follows:
Wherein:To add angular speed, using the value of main inertial navigation information calculating；
Ak(1:3,1:3) is matrix Ak1 to 3 row and 1 to 3 column constitute 3 × 3 matrixes；
Ak(1:3,6:8) is matrix Ak1 to 3 row and 6 to 8 column constitute 3 × 3 matrixes；
Step 204, time update is filtered to calculate:
Xk/k-1=Ak/k-1Xk-1
Wherein: Xk/k-1For next step predicted state；
Pk/k-1To predict mean square deviation in next step；
QkFor process noise covariance matrix；
Step 205, be observed vector update: its observation calculates as follows:
Wherein:For the sub- inertial navigation east orientation of missile-borne, north orientation speed, unit: meter per second；
For airborne main inertial navigation east orientation, north orientation speed, unit: meter per second；
Step 206, it is observed matrix update:
Observed relationships matrix HkIt initializes as follows:
The continuous item that it needs to calculate in real time is as follows:
Step 207, it is filtered measurement updaue calculating:
Pk=(I-KkHk)Pk/k-1
Xk=Xk/k-1+Kk(Zk-HkXk/k-1)
Wherein: KkFor filtering gain；
PkTo estimate mean square deviation matrix；
XkTo filter estimated state vector；
RkTo measure noise, by judging cruising altitude, R is adjustedkMiddle posture corresponds to item size, makes alignment pattern in speed
Degree matching and speed add to be switched between attitude matching.
Step 208, according to flying height, to observation noise RkIt is adjusted, and the alignment for carrying out sub- inertial navigation resolves, and also wraps
It includes following steps: measuring after updating completion resolving, estimated state vector X will be filteredk+1With estimation mean square deviation matrix Pk+1As first
The update that value is assigned to next period calculates.
Kalman filter is linear minimum-variance estimation device, and the filtering of " optimal " is obtained in designing system
Can, it needs to select suitable filtering parameter according to engineering experience.
Those skilled in the art can carry out various modifications to the embodiment of the present invention and modification, if these modifications and change
For type within the scope of the claims in the present invention and its equivalent technologies, then these modifications and variations are also in protection scope of the present invention
Within.The prior art that the content being not described in detail in specification is known to the skilled person.
Claims (8)
1. a kind of airborne adaptive Transfer alignment algorithm suitable for wing flexure deformation, which comprises the following steps:
Sub- inertial navigation initial position, speed, posture information are calculated according to airborne main inertial navigation information, and carries out inertial navigation strapdown resolving；
According to flying height, to observation noise RkIt is adjusted, and the alignment for carrying out sub- inertial navigation resolves.
2. algorithm as described in claim 1, it is characterised in that: when takeoff airfoil becomes larger, filter work is made to exist
Under speeds match mode, by observation noise RkMiddle posture respective items tune up；When airfoil stabilizes after aircraft lift-off, make filter
Work is in the case where speed adds attitude matching mode, by observation noise RkMiddle posture respective items are turned down.
3. algorithm as described in claim 1, it is characterised in that: described to calculate sub- inertial navigation initial bit according to airborne main inertial navigation information
It sets, speed, posture information, specifically includes the following steps:
According to the data that airborne main inertial navigation issues, the initial value of the sub- inertial navigation of missile-borne is initialized；
Quaternary number initial value is calculated according to the airborne attitude data of initial runtime, it is as follows to define attitude quaternion:
Q(q0,q1,q2,q3)=q0+q1i+q2j+q3k
Calculation formula is as follows:
Wherein: q0(0),q1(0),q2(0),q3It (0) is the sub- inertial navigation attitude quaternion initial value of missile-borne, dimensionless；γ, ψ are pitching
Angle, roll angle and yaw angle initial value are taken from main inertial navigation and correspond to moment value, unit: radian.
4. algorithm as claimed in claim 3, it is characterised in that: according to the data that airborne main inertial navigation issues, to the sub- inertial navigation of missile-borne
Initial value initialized, specifically includes the following steps:
Position and speed carries out assignment with the value of airborne main inertial navigation:
Ls0=Lm
λs0=λm
hs0=hm
Wherein: Ls0,λs0,hs0,For the sub- inertial navigation geographic latitude of missile-borne, longitude, height, east orientation speed, north orientation speed
With sky orientation speed initial value, unit is respectively as follows: radian, radian, rice, meter per second, meter per second, meter per second；Lm,λm,hm,For
Geographic latitude, longitude, height, east orientation speed, north orientation speed and the sky orientation speed that airborne main inertial navigation issues, unit are respectively as follows: arc
Degree, radian, rice, meter per second, meter per second, meter per second.
5. algorithm as described in claim 1, it is characterised in that: the progress inertial navigation strapdown resolving, specifically includes the following steps:
Carry out posture renewal calculating:
Wherein: Δ θx,Δθy,ΔθzFor three shaft angle increment of this system, unit: radian；
q0(tk+1),q1(tk+1),q2(tk+1),q3(tk+1) it is the updated attitude quaternion of recursion；
q0(tk),q1(tk),q2(tk),q3(tk) be recursion update before attitude quaternion；
It carries out speed and updates calculating:
Wherein: Δ Vx,ΔVy,ΔVzFor the apparent velocity increment in three directions of missile coordinate system, unit: meter per second；
For the north orientation of recursion next step, day to east orientation speed, unit is equal are as follows: meter per second；
It is north orientation, day to the aceleration of transportation with east orientation, unit: meter per second2；
It is north orientation, day to the Corioli's acceleration with east orientation, unit: meter per second2；
gkFor current acceleration of gravity, meter per second2；
Carry out location updating calculating:
Wherein: Lk,λk,hkFor geographic latitude, longitude and the height value currently walked, unit is respectively as follows: radian, radian and rice；
Lk+1,λk+1,hk+1For the geographic latitude of recursion next step, longitude and height value, unit is respectively as follows: radian, radian and rice；
For the north orientation, east orientation and sky orientation speed currently walked, unit is equal are as follows: meter per second.
6. algorithm as described in claim 1, it is characterised in that: the alignment for carrying out sub- inertial navigation resolves, and specifically includes following
Step:
Step 201, moving base Transfer Alignment is carried out using Kalman filtering, sub- inertial navigation posture misalignment is estimated；It chooses
Posture misalignment, east orientation and the north orientation speed error of sub- three axis direction of inertial navigation, 3 axis gyroscopic drifts and installation deviation angle are as state
Vector:
X=[φx,φy,φz,δVE,δVN,εx,εy,εz,ψx,ψy,ψz]T
Wherein: X is system mode；
φx,φy,φzFor sub- inertial navigation posture misalignment, unit: radian；
δVE,δVNFor sub- inertial navigation east orientation, north orientation speed error, unit: meter per second；
εx,εy,εzFor the drift of sub- inertial navigation three axis accelerometer, unit: radian per second；
ψx,ψy,ψzFor sub- three axis installation deviation angle of inertial navigation, unit: radian；
Step 202, according to sub- inertial navigation umber of pulse and sub- inertial navigation instrumental error penalty coefficient matrix, a sampling period t is calculatedhIt is interior
The three axle speed increment of this system of sub- inertial navigation, is denoted as: Δ V respectivelyx,ΔVy,ΔVz, then navigation is apparent velocity incremental computations formula
Are as follows:
Wherein:It is three axle speed increments for navigation；
Step 203, carry out state-transition matrix update: the continuous item that state-transition matrix calculates in real time is as follows:
Wherein:To add angular speed, using the value of main inertial navigation information calculating；
Ak(1:3,1:3) is matrix Ak1 to 3 row and 1 to 3 column constitute 3 × 3 matrixes；
Ak(1:3,6:8) is matrix Ak1 to 3 row and 6 to 8 column constitute 3 × 3 matrixes；
Step 204, time update is filtered to calculate:
Xk/k-1=Ak/k-1Xk-1
Wherein: Xk/k-1For next step predicted state；
Pk/k-1To predict mean square deviation in next step；
QkFor process noise covariance matrix；
Step 205, be observed vector update: its observation calculates as follows:
Wherein:For the sub- inertial navigation east orientation of missile-borne, north orientation speed, unit: meter per second；
For airborne main inertial navigation east orientation, north orientation speed, unit: meter per second；
Step 206, it is observed matrix update:
Observed relationships matrix HkIt initializes as follows:
The continuous item that it needs to calculate in real time is as follows:
Step 207, it is filtered measurement updaue calculating:
Pk=(I-KkHk)Pk/k-1
Xk=Xk/k-1+Kk(Zk-HkXk/k-1)
Wherein: KkFor filtering gain；
PkTo estimate mean square deviation matrix；
XkTo filter estimated state vector；
RkTo measure noise, by judging cruising altitude, R is adjustedkMiddle posture corresponds to item size, make to be aligned in speeds match and
Speed adds to be switched between attitude matching.
7. algorithm as claimed in claim 6, it is characterised in that: according to flying height, to observation noise RkIt is adjusted, goes forward side by side
The alignment of the sub- inertial navigation of row resolves, further comprising the steps of: measuring update and completes after resolving, will filter estimated state vector Xk+1With
Estimate mean square deviation matrix Pk+1The update for being assigned to next period as initial value calculates.
8. algorithm as claimed in claim 6, it is characterised in that: moving base Transfer Alignment is carried out using Kalman filtering, it will be sub
Inertial navigation posture misalignment estimates, and accelerometer drift, accelerometer and gyroscope zero bias are random constant value.
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| CN107990912A (en) * | 2017-11-08 | 2018-05-04 | 江西洪都航空工业集团有限责任公司 | A kind of robust adaptive-filtering moving base Transfer Alignment |
| CN110371318A (en) * | 2019-05-17 | 2019-10-25 | 东南大学 | Transfer Alignment based on diplex filter under a kind of dynamic deformation |
| CN111089588A (en) * | 2019-12-27 | 2020-05-01 | 湖北航天技术研究院总体设计所 | Moving base transfer alignment algorithm suitable for barrel-packed obliquely-launched missile |
| CN111141251A (en) * | 2019-12-24 | 2020-05-12 | 中国船舶重工集团公司第七一七研究所 | Ship deformation measurement system and method |
| CN111232239A (en) * | 2020-01-02 | 2020-06-05 | 北京航天测控技术有限公司 | Method, device and equipment for reconstructing curved surface flexural displacement field |
| CN111289013A (en) * | 2020-04-03 | 2020-06-16 | 北京航空航天大学 | Wing deflection angular velocity estimation method for separating and combining multi-source disturbance influence |
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