SINS arbitrary misalignment angle singularity-free rapid transfer alignment method
The invention provides a SINS arbitrary misalignment angle singularity-free rapid transfer alignment method, and belongs to the technical field of the inertial navigation. The method comprises the following steps: using output of a master and slave inertial navigation system gyroscopes to respective...
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| Format: | Patent |
| Sprache: | chi ; eng |
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| Zusammenfassung: | The invention provides a SINS arbitrary misalignment angle singularity-free rapid transfer alignment method, and belongs to the technical field of the inertial navigation. The method comprises the following steps: using output of a master and slave inertial navigation system gyroscopes to respectively trace posture change matrixes (the formula is as shown in the description) of master and slave inertial navigation relative to inertial space, combining a posture matrix (the formula is as shown in the description) of the master inertial navigation and an installing matrix (the formula is as shown in the description) between the master and slave inertial navigation, establishing a slave inertial navigation system posture matrix (the formula is as shown in the description); updating the postures in master and slave inertial navigation inertial systems; measuring a construction quantity; using matrix Kalman filtering estimation (the formula is as shown in the description); solving a slave inertial navigation initi |
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