Carrier rocket strapdown inertial navigation system full-autonomous alignment method

The invention provides a carrier rocket strapdown inertial navigation system full-autonomous alignment method. The method comprises the steps that a carrier rocket strapdown inertial navigation system speed and attitude error equation of a launching point inertial system is built; a solidification analysis self-alignment algorithm is utilized for obtaining the initial attitude information of a strapdown inertial navigation system; a Kalman filter is designed for performing on-line proving on inertial device errors; a kalman filtering algorithm is designed for performing fine alignment calculation of the strapdown inertial navigation system; according to the self application conditions of a carrier rocket and the strapdown inertial navigation system, relevant parameters of the Kalman filter are set, and rod arm effect compensation is carried out. By means of the low-pass filtering and solidification analysis technology, the carrier rockers do not need a complex optical sighting system any longer, pitching, yaw