KR20190001832A - Inertial navigation system with adaptive time delay compensation and rapid initial alignment method thereof - Google Patents

Abstract

The present invention relates to an inertial navigation system with an adaptive time delay compensation function, capable of quickly and precisely attaining initial alignment in a movable platform without launching elevation limit, and a rapid initial alignment method thereof. According to the present invention, the rapid initial alignment method comprises: a step of loading a flying object on a launcher, and comparing speed and posture information between a main inertial navigation system (MINS) of the launcher and a subordinated inertial navigation system (SINS) of the flying object to estimate a misalignment angle and time delay between the MINS and the SINS; a step of storing the estimated misalignment angle and time delay; and a step of performing mixed alignment, which performs re-transfer alignment based on the stored misalignment angle and time delay to re-estimate the misalignment angle and time delay of the SINS changed by an internal gap of the launcher, to perform the initial alignment of the flying object. The initial alignment of the flying object having a concept of consecutive launching operation is able to be quickly and precisely performed in the movable platform.

Description

TECHNICAL FIELD [0001] The present invention relates to an inertial navigation apparatus having a time delay adaptive compensation function, and a rapid initial alignment method thereof. BACKGROUND OF THE INVENTION < RTI ID = 0.0 >

The present invention relates to an inertial navigation device and its rapid initial alignment method capable of achieving initial alignment quickly and precisely without launch angle limitation in a launch platform.

The inertial navigation system is a device used to obtain position, speed and attitude information, which is navigation information of an aircraft such as an airplane, a ship, a car, and a bullet. The inertial navigation system is a real-time navigation system based on acceleration and angular velocity information measured from an accelerometer and a gyroscope Integrate the navigation equation to calculate position, velocity and posture. Since the inertial navigation system is an integral system, errors accumulate as time passes. Therefore, to calculate accurate position, velocity, and posture, accurate initial position, velocity, and posture are required. .

In general, the initial alignment is based on a self-alignment to calculate the direct posture using the accelerometer and gyroscope output of the navigation system, and a posture of a highly accurate Master Inertial Navigation System (MINS). There is a transfer alignment that performs alignment of a low inertial navigation system (SINS).

The initial alignment of the antibody with the concept of continuous firing operation in the maneuvering platform requires both promptness and accuracy. In the case of self-alignment, precise initial alignment is possible, but since it takes a long time to achieve accurate accuracy, it is difficult to re-arrange quickly if the un-alignment angle changes due to pyro shock.

On the other hand, in the case of one-shot alignment using MINS attitude as a sort of transfer alignment, the attitude of the main navigation system (MINS) It is used in posture, so it is possible to arrange quickly. However, it is difficult to achieve precise accuracy because the misalignment angle between MINS and SINS acts as an error.

A quick one-shot sorting method is a method to overcome the above problem. This method uses a accelerometer output to find horizontal and vertical non-alignment angles. However, this method is applicable to stationary platforms because it requires a 90 ° pitch angle to find the vertical unassisted angles and is applicable only to vertical launchers and uses accelerometer output, but it is not applicable to mobile platforms.

Another method to overcome the above problem is rapid initial alignment. This method has the advantage of being able to perform the alignment without the elevation drive limit because it uses the transfer alignment to find the vertical non-alignment angle. However, this method also finds the horizontal unaligned angle using the accelerometer measurement value, so it is difficult to achieve accurate accuracy in the launch platform.

It is an object of the present invention to provide an inertial navigation device and its rapid initial alignment method capable of performing initial alignment quickly and precisely without launch angle limitation in a launch platform.

It is another object of the present invention to provide an inertial navigation device and its rapid initial alignment method capable of compensating jittering present in time delay variation and time delay value estimated through pre-transfer alignment.

According to an aspect of the present invention, there is provided an inertial navigation apparatus for performing initial alignment of an antibody having a concept of continuous firing operation in a maneuver platform, (MINS); And (a) performing a pre-transfer alignment to estimate the un-alignment angle and time delay between MINS and SINS by comparing the speed and attitude information of the main inertial navigation system (MINS) mounted in the antibody of the launch pad, and (b) A longitudinal inertial navigation system that performs initial sorting of the antibody by performing mixed sorting to reorder the unassociated angles and time delays of SINS, SINS).

According to an embodiment of the present invention, the longitudinal inertial navigation apparatus (SINS) re-estimates the X-axis and Y-axis unassisted angles among the stored X-axis, Y-axis, and Z- And the stored time delay can be re-estimated in units of 10ms.

In accordance with an embodiment of the present invention, the longitudinal inertial navigation apparatus (SINS) may be configured to change the time delay value estimated through pre-transfer sorting in the mixed alignment operation or to change the time delay by jittering Time delay compensation can be performed to reduce the time synchronization error.

According to an embodiment of the present invention, the longitudinal inertial navigation apparatus (SINS) performs navigation using the speed increment and angle increment of SINS, sequentially stores the navigation data of the SINS in the moving buffer, Sampling the first navigation data and the neighboring navigation data having the same time synchronization with the navigation data of the MINS among the navigation data stored in the movement buffer based on the un-alignment angle and the time delay between the SINSs, Time navigation of the Kalman filter is performed using the navigation data and the navigation data including the angular velocity is received from the MINS to determine whether to compensate for the time lag according to the received angular velocity, The error can be reduced.

According to an embodiment of the present invention, when the RSS of the received angular velocity is less than a predetermined value, the SINS generates measurement values of the Kalman filter using the first navigation data and the MINS navigation data without time delay compensation Generates a plurality of measurement value candidates for the Kalman filter using the sampled plurality of navigation data and the MINS navigation data for the time delay compensation when the RSS of the received angular velocity is equal to or greater than a predetermined value, The Kalman filter measurement value can be updated by selecting the Kalman filter measurement value having the minimum RSS among the filter measurement value candidates.

In order to accomplish the above object, an initial alignment method for an inertial navigation system according to an embodiment of the present invention includes mounting an antibody on a launching platform (tube), attaching a main navigation device (MINS) Performing pre-transfer alignment for estimating an un-alignment angle and a time delay between MINS and SINS by comparing the speed and attitude information of the SINS; Storing the estimated non-alignment angle and time delay; And carrying out initial sorting of the antibody by carrying out re-delivery sorting using the stored uncombined angle and time delay to perform mixed sorting to re-estimate the unaligned angle and time delay of the SINS changed by the internal tube clearance .

According to an embodiment of the present invention, the X-axis and Y-axis unassisted angles are re-estimated and the Z-axis unassisted angles are maintained among the stored X-, Y-, and Z- The delay can be re-estimated in 10ms increments.

According to an exemplary embodiment of the present invention, performing the initial sorting may include a step of changing a time delay estimated by pre-transfer sorting in the case of mixed alignment, or a time delay change due to jittering And performing time delay compensation to reduce the synchronization error.

The step of performing time delay compensation according to an embodiment of the present invention includes the steps of performing navigation using a speed increment and an angle increment of SINS to sequentially store SINS navigation data in a moving buffer; The first navigation data in which the navigation data of the MINS coincides with the navigation data of the MINS among the navigation data stored in the movement buffer based on the un-alignment angle and the time delay between the MINS and the SINS obtained through the pre-transfer sorting and a plurality of navigation data ; ≪ / RTI > Performing time propagation for the Kalman filter using the sampled first navigation data and receiving navigation data including angular velocity from MINS; And determining whether to compensate for the time delay according to the received angular velocity, thereby reducing time delay variation and time synchronization error due to jittering.

According to an embodiment of the present invention, the step of decreasing the time synchronization error may include generating the measured value of the Kalman filter using the first navigation data and the MINS navigation data without time delay compensation when the RSS of the received angular velocity is less than a predetermined value ; And generating a plurality of measurement value candidates for the Kalman filter using the sampled plurality of navigation data and the MINS navigation data for time delay compensation if the RSS of the received angular velocity is greater than or equal to a predetermined value; And updating the Kalman filter measurement value by selecting a Kalman filter measurement value having the minimum RSS among the plurality of generated Kalman filter measurement value candidates.

According to the present invention as described above, the present invention provides a rapid initial sorting technique of an inertial navigation system (system) that combines pre-delivery sorting and mixed sorting for rapid initial sorting of antibodies having a concept of continuous firing operation in a maneuvering platform, The initial alignment can be performed quickly and precisely without limitation of the launch angle limit. If there is a change in the estimated time delay value through the pre-delivery alignment or there is jittering in the time delay, It is possible to reduce the alignment error and compensate for the convergence time by compensating the time delay and the jitter.

BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a partial schematic view of an inertial navigation system applied to the present invention; Fig.
FIG. 2 is a flowchart illustrating a procedure for performing a rapid initial alignment method of an inertial navigation system according to an embodiment of the present invention; FIG.
3 is a flow diagram of a method for adaptively compensating for time delay in performing mixed alignment in accordance with an embodiment of the present invention.
FIG. 4 shows an example of navigation data of SINS stored in a moving buffer after being calculated by pure navigation.
5 is a view showing a method of sampling a plurality of navigation data in which MINS navigation data and time synchronization are close to each other among navigation data stored in a moving buffer.
6 is a flowchart illustrating an operation of determining whether to compensate for time delay according to an input angular velocity and selectively applying a plurality of sampled navigation data.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings.

The suffix "module" and " part "for the components used in the following description are given or mixed in consideration of ease of specification, and do not have their own meaning or role.

Although the terms including ordinals such as first, second, etc. in this specification can be used to describe various elements, the elements are not limited by the terms. The terms are used only for the purpose of distinguishing one component from another. In addition, the singular forms "a," "an," and "the" include plural referents unless the context clearly dictates otherwise.

Whenever a component is referred to as "including" an element herein, it is to be understood that it may include other elements, unless the context otherwise requires.

In the following description of the embodiments of the present invention, a detailed description of related arts will be omitted when it is determined that the gist of the embodiments disclosed herein may be blurred. It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory and are intended to provide further explanation of the invention as claimed. , ≪ / RTI > equivalents, and alternatives.

The present invention relates to an inertial navigation device which combines pre-delivery alignment and mixed alignment for rapid initial alignment of antibodies with a concept of continuous firing operation in a maneuvering platform, in order to achieve quick and precise initial alignment in a maneuvering platform, System). In addition, the present invention proposes a time delay compensation scheme that can reduce the alignment error when the time delay value estimated through the pre-sorting changes or jittering occurs in the time delay.

1 is a schematic view of an inertial navigation system applied to the present invention.

Referring to FIG. 1, there is a longitudinal inertial navigation system (SINS) 100 in an antibody (eg, tan) mounted on a launching platform (tube), and a main navigation system (MINS) (200). In such an apparatus (system), the initial posture of the SINS 100 in the antibody is obtained using the velocity and attitude provided by the MINS 200 as a measurement value of the transfer matrix. The initial alignment method proposed in the present invention combines pre-transfer alignment and mixed alignment, and the contents are as follows.

1. Pre-delivery sorting technique

The pre-delivery sorting technique is to find out the un-alignment angle and the time delay of MINS and SINS in order to shorten the sorting time. Here, the time delay is the time required for the MINS information to be transmitted to the SINS in which the forwarding sort filter is operated by communication. In order to achieve this, the present invention continuously compares the inertia measurement information of the MINS 200, which is a reference, with the inertia measurement information (navigation information) of the SINS 100, Method. Since this method takes more than a few tens of seconds, mount the antibody (eg, carbon) on the launch pad and perform it once.

The navigation information used in the forward alignment includes acceleration, angular velocity, speed and attitude information, and speed and attitude alignment alignment methods are generally used, which have excellent visibility. The velocity and posture matching transfer alignment method is a method of estimating the initial posture of SINS by estimating the mounting non-alignment angle between MINS and SINS using MINS and SINS speed and attitude information. The system model of the velocity and posture matching transfer alignment can be expressed as Equation 1 and the state variable is composed of 10th order speed (3), posture (3), unassociated angle (3) and time delay (1) .

[Equation 1]

,

은 항법좌표계의 속도 오차와 자세 오차,

는 장착 비정렬각 오차,

는 MINS에서 SINS로의 시간지연 오차이다. here

,

The velocity error and the attitude error of the navigation coordinate system,

Mounting error,

Is the time delay error from MINS to SINS.

The performance of the velocity and posture matching delivery alignment is determined by the velocity and attitude motion of the antibody with MINS and SINS. Therefore, the information used as a measurement in the velocity and posture matching transfer alignment method is velocity and attitude, and Kalman filter is used as an estimator. The velocity used in the velocity matching uses the velocity in the navigation coordinate system. In the speed and posture matching transfer alignment method, there are Euler posture matching, Quaternion posture matching, and DCM (Direction Cosine Matrix) posture matching methods as the posture matching. Among these methods, The measured values of the Kalman filter in the velocity and attitude matching transfer arrangements are composed of the speed difference between SINS and MINS and the attitude difference between SINS and MINS, and the measurement equations are expressed by the following equations (2) and 4.

&Quot; (2) "

&Quot; (3) "

는 MINS 속도,

는 지렛대 효과에 의한 속도,

는 MINS와 SINS간의 속도 차이며

은 MINS 속도의 미분값 그리고

는 속도측정잡음이다. here The speed of SINS,

MINS speed,

The speed due to the lever effect,

Is the speed difference between MINS and SINS

Is the derivative of the MINS velocity and

Is the velocity measurement noise.

&Quot; (4) "

는 시간지연 오차에 의한 자세변환 벡터,

은 SINS의 자세변환행렬(DCM),

은 MINS의 자세 변환행렬(DCM)의 전치행렬,

는 칼만필터에서 추정한 장착 비정렬각을 자세변환행렬(DCM)로 변환한 값, 그리고

은 자세측정잡음이다. 상기 수학식 3과 수학식 4의 측정 방정식을 정리하면 수학식 5와 같이 나타낼 수 있다. here

Is an attitude conversion vector due to a time delay error,

(DCM) of the SINS,

Is the transposition matrix of the attitude conversion matrix (DCM) of the MINS,

Is a value obtained by converting a mounting unassisted angle estimated by the Kalman filter to an attitude conversion matrix (DCM), and

Is the attitude measurement noise. The measurement equations of Equations (3) and (4) can be summarized as Equation (5).

&Quot; (5) "

here,

이다.

to be.

2. Mixed alignment technique

Alignment errors increase as the unaligned angle found through pre-alignment aligns with the launch or launch impact of the launch platform, requiring re-alignment prior to launch. The method of rearranging using the existing accelerometer output can not be applied when the vibration occurs and the acceleration changes as in the case of the starting platform. In the case of the forward alignment method, it is possible to perform alignment during the start, but it takes several tens of seconds to estimate the azimuth error. Accordingly, the present invention has developed a hybrid sorting technique that is a sorting method using transfer sorting.

Mixed sorting is a method of performing re-transfer sorting by using pre-transfer sorting and estimating and storing the non-sorting angle and time delay. The proposed method can be applied in the launching platform using forwarding alignment, it can be aligned within a few seconds because it estimates the unassigned angle and time delay in advance and re - estimates only the part that occurs.

2 is a flowchart illustrating a procedure for performing a rapid initial sorting method of an inertial navigation system according to an embodiment of the present invention.

2, first, an antibody (eg, carbon) is attached to a tube of a prolapse and pre-transfer alignment is performed (S100 and S110), and the X axis between the MINS 200 mounted on the tube and the SINS 100 in the antibody, Y-axis, and Z-axis and the time delay are estimated and stored (S120).

Then, in order to reduce the alignment error which is increased by the action of the launch platform, the antibody is selected before firing and mixed alignment is performed (S130, S140). In this case, the mixed alignment is obtained through pre-alignment and uses the X-axis, Y-axis, and Z-axis non-alignment angles and time delay stored in the storage unit. That is, since the axes that can change the non-alignment of SINS due to the internal tube clearance are the X axis and the Y axis, the unassisted angles of the Z axis are not re-estimated when performing the mixed alignment, The time delay applies the estimated value through the pre-delivery sort in units of 10ms and re-estimates the change in ms.

When the mixed alignment is completed, the navigation is carried out (S150, S160). If it is determined that the shot is normal (through a check of a shot point and a firing distance, etc.), an antibody (e.g., shot) is selected again in the step S130 and steps S140 to S160 are repeated. As described above, the present invention can perform initial alignment in combination with pre-delivery alignment and mixed alignment to ensure alignment accuracy, and can perform rapid alignment within a few seconds. Therefore, it can be seen that this method is suitable for continuous launch in the launch platform.

3. Time delay adaptive compensation scheme

Alignment error may increase when the time delay value estimated through pre-alignment changes when jitter alignment is performed or when there is jittering in time delay. In the conventional method, since the time delay is modeled assuming a constant value, when the external applied motion is large, the time delay is changed, or the time delay is large, the approximated model is inaccurate and the transfer alignment performance is degraded.

Therefore, the present invention proposes a time delay compensation method for reducing the modeling error as described above.

FIG. 3 is a flow chart of a method of adaptively compensating time delay in performing mixed alignment according to an embodiment of the present invention, FIG. 4 shows SINS navigation data stored in a shift buffer after being calculated by pure navigation, Shows a method of sampling a plurality of navigation data in which the MINS navigation data and the time synchronization are close to each other among the navigation data stored in the movement buffer.

Referring to FIG. 3, the navigation unit performs the navigation using the speed increment and angle increment output from the SINS 200 (S200), and calculates the position, speed, posture, and acceleration values of the SINS Is stored in the moving buffer having the size of N as shown in FIG. 4 (S210). The time delay compensation unit receives the un-alignment angle [theta] and the time delay [Delta] T between the MINS and the SINS obtained through the pre-transfer alignment disclosed in FIG. 2 from the storage unit, (Sampling) the first navigation data Nav (kd) whose time synchronization with the time-delayed navigation data of the MINS coincides with the navigation data of the first navigation data SINS (S220) The navigation data Nav (kd-2) to Nav (k-d + 2) are further selected (S230). The reason for choosing navigation data in this way is to compensate for jittering.

In the next step, the first navigation data (Nav [kd]) of the five-sampling navigation data (Nav {5}) whose time delay is compensated in the time delay compensation unit and the first navigation data To perform time propagation for the Kalman filter. The time propagation equation is as follows.

&Quot; (6) "

&Quot; (7) "

&Quot; (8) "

here

이다.

to be.

: 항법좌표계에서의 지구회전 각속도

: Earth rotation angular velocity in the navigation coordinate system

: 항법좌표계에서의 지구에 대한 항법 회전 각속도

: Navigation rotation angular velocity for the earth in the navigation coordinate system

: 항법좌표계에서의 가속도계 출력

: Accelerometer Output in Navigation Coordinate System

Thereafter, the time delay compensation unit generates and updates the Kalman filter measurement values (S260, S270) by selectively applying the navigation data (Nav {5}) of the five samplings compensated for the time delay based on the input angular speed of the MINS, The attitude of the SINS is corrected by estimating the non-alignment angle with the updated Kalman filter (S280, S290).

6 is a flowchart illustrating an operation of determining whether to compensate for time delay according to an input angular velocity and selectively applying a plurality of sampled navigation data.

As shown in FIG. 6, the time delay compensation unit checks whether the value (RSS) of the input angular velocity is greater than a predetermined value and applies jitter compensation conditionally (S300). This is advantageous in that the initial alignment performance can be improved when the jitter compensation is conditionally applied according to the performance of the SINS. If the input angular velocity is less than the preset value and the condition is unsatisfactory, the time delay compensator generates the Kalman filter velocity measurement value and the attitude measurement value using Nav [kd] and MINS navigation information without performing jitter compensation (S310).

On the other hand, if the input angular velocity is larger than the preset value and the condition is satisfied, the time delay compensation unit uses the navigation data (Nav [5]) and the MINS navigation data to perform jitter compensation, A candidate group of measured values (velocity, posture) is generated (S320), and Nav [k-d + s] is selected as a sample that minimizes the RSS value of the measurement value among the generated five measured value candidate groups (S330), the Kalman filter measurement value is updated using the selected navigation data through step S270 (S330). In this case, the measurement value generation formula of the Kalman filter is the same as in Equation (5), and the measurement value update equation is as shown in the following Equations (8) to (10).

&Quot; (8) "

&Quot; (9) "

&Quot; (10) "

Where P is the error covariance of the state variable x, and Q is the process noise. And R is the speed error and the attitude error of the MINS due to the measurement noise. The initial error covariance, process noise, and measurement noise can be expressed by the following mathematical expression (11).

&Quot; (11) "

Therefore, we use the updated state variables to estimate the unaligned angle and correct the SINS posture. In this way, the time delay compensation method using the adaptive moving buffer minimizes the influence of the time delay and reduces the influence of the jittering, thereby reducing the alignment error and improving the convergence time.

As described above, the present invention provides a rapid initial alignment technique of an inertial navigation system (system) that combines pre-delivery alignment and mixed alignment for rapid initial alignment of antibodies having a concept of continuous launch operation in a maneuvering platform, There is an advantage that initial alignment can be performed quickly and precisely without limitation.

In addition, the present invention can reduce the alignment error by compensating the time delay and jitter through the time delay compensation unit when the time delay value estimated through pre-alignment is changed or jittering is present in the time delay The convergence time can be improved.

The inertial navigation apparatus having the time delay adaptive compensation function according to the present invention and the rapid initial alignment method thereof according to the present invention described above can be applied not only to the configuration and method of the embodiments described above, It will be understood that the invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. Therefore, it should be understood that the above-described embodiments are to be considered in all respects as illustrative and not restrictive.

100: SINS 200: MINS

Claims (10)

1. An inertial navigation device for performing initial alignment of an antibody having a concept of continuous firing operation in a maneuvering platform,
A main navigation system (MINS) mounted on the launch pad; And
And a longitudinal inertial navigation device mounted in the body of the launching platform for performing pre-transfer alignment to receive the speed and attitude information from the main inertial navigation system (MINS) to estimate the un-alignment angle and time delay with the main navigation system (MINS) (SINS)
The longitudinal inertial navigation system (SINS)
And performs a mixed rearrangement to rearrange the unassociated angles and the time delays of the SINS that are changed by the launch pad inner clearance by performing the rearrangement rearrangement using the estimated unaligned angle and the time delay. The apparatus of claim 1, wherein the longitudinal inertial navigation system (SINS)
The X-axis and Y-axis unassisted angles are re-estimated and the Z-axis unassisted angles are maintained among the stored X-axis, Y-axis, and Z-axis unassisted angles in the mixed alignment operation. Wherein said initial alignment method comprises the steps of: The apparatus of claim 1, wherein the longitudinal inertial navigation system (SINS)
Time delay compensation is performed in order to reduce the time lag change due to jittering and the time synchronization error due to jittering when the time delay value estimated through pre- The initial alignment method of the inertial navigation device. 4. The method of claim 3, wherein the longitudinal inertial navigation system (SINS)
SINS speed and angle increments are used to carry out the navigation to store the navigation data of the SINS in the moving buffer,
The first navigation data in which the navigation data of the MINS coincides with the navigation data of the MINS among the navigation data stored in the movement buffer based on the un-alignment angle and the time delay between the MINS and the SINS obtained through the pre-transfer sorting and a plurality of navigation data / RTI >
Performs time propagation for the Kalman filter using the sampled first navigation data, receives navigation data including angular velocity from the MINS,
And determines whether or not to compensate for time delay according to the received angular velocity, thereby reducing time delay variation and time synchronization error due to jittering. 5. The method of claim 4, wherein the longitudinal inertial navigation system (SINS)
If the value of the received angular velocity is less than the predetermined value, the measurement value of the Kalman filter is generated using the first navigation data and the MINS navigation data without time delay compensation,
Generating a plurality of measurement value candidates for the Kalman filter using the sampled plurality of navigation data and MINS navigation data for time delay compensation if the received angular velocity is greater than or equal to a predetermined value,
Wherein the Kalman filter measurement value is updated by selecting a Kalman filter measurement value having the minimum RSS among the plurality of generated Kalman filter measurement value candidates. In an initial alignment method of an antibody having a concept of continuous firing operation in an activated platform,
Pre-delivery alignment, which estimates the un-alignment angle and time delay between MINS and SINS by mounting the antibody on the launch pad and comparing the speed and attitude information of the MINS of the launcher with the SINS of the antibody, ;
Storing the estimated non-alignment angle and time delay;
Performing hybrid sorting by performing re-delivery sorting using the stored unassembled angles and time delays to re-estimate unassociated angles and time delays of SINS that are varied by the launch pad internal clearance; And
And performing an initial alignment of the antibody on the basis of the un-alignment angle and the time delay of the SINS re-estimated by the mixed alignment. 7. The method of claim 6, wherein the X-axis and Y-axis unassisted angles are re-estimated and the Z-axis unassisted angles are maintained among the stored X-, Y-, and Z- Wherein the change is re-estimated in units of 10 ms. 7. The method of claim 6, wherein performing the initial alignment comprises:
Performing time delay compensation in order to reduce the time delay variation and the time synchronization error due to jittering when the time delay value estimated through the pre-transfer alignment changes or the jitter is present in the time delay when performing the mixed alignment; Wherein the rapid initial alignment method of the inertial navigation device is characterized by comprising: 9. The method of claim 8, wherein performing the time delay compensation comprises:
Storing navigation data of SINS in a moving buffer by performing navigation using a speed increment and an angle increment of SINS;
The first navigation data in which the navigation data of the MINS coincides with the navigation data of the MINS among the navigation data stored in the movement buffer based on the un-alignment angle and the time delay between the MINS and the SINS obtained through the pre-transfer sorting and a plurality of navigation data ; ≪ / RTI >
Performing time propagation for the Kalman filter using the sampled first navigation data and receiving navigation data including angular velocity from MINS; And
And determining whether to compensate for time delay according to the received angular velocity, thereby reducing a time delay change and a time synchronization error due to jittering. 10. The method of claim 9, wherein reducing the time synchronization error comprises:
Generating a measured value of the Kalman filter using the first navigation data and the MINS navigation data without time delay compensation if the received angular velocity is less than a predetermined value; And
Generating a plurality of measurement value candidates for the Kalman filter using the sampled plurality of navigation data and the MINS navigation data for time delay compensation if the received angular velocity is greater than or equal to a predetermined value; And
And selecting a Kalman filter measurement value having the minimum RSS among the plurality of generated Kalman filter measurement candidate values to update the Kalman filter measurement value.

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