Method for measuring vibration of muzzle during marching based on combination of master inertial navigation and slave inertial navigation

The invention discloses a method for measuring vibration of a muzzle during marching based on combination of master inertial navigation and slave inertial navigation. The method comprises the following steps: mounting high-overload-resistant high-precision inertial navigation on a turret, and mounting low-precision MEMS inertial navigation at the muzzle of a barrel; in the initial stage, the high-precision main inertial navigation at the turret and the MEMS sub inertial navigation at the muzzle complete transfer alignment; in the transfer alignment stage, dynamic modeling of outer lever arm errors and flexural deformation is carried out according to artillery barrel characteristics, and the lever arm effect and the flexural deformation are compensated; establishing a transfer alignment Kalman filter in a speed and attitude matching mode; and in the navigation updating stage, the sub inertial navigation performs navigation state updating by using the alignment error at the transfer alignment ending moment as t