Research on Initial Precision Alignment Method of Strapdown Inertial Navigation System

摘要

According to the requirement of high precision initial alignment for Strapdown Inertial navigation, the precision alignment principle of strapdown inertial navigation is studied. Based on zero-speed as external information benchmark, a mathematical model of precision alignment based on Kalman filter is established, which mainly includes the state space model and measurement model of precision alignment, and the simulation experiments under static benchmark are carried out. The experimental results show that the precision alignment method studied is adopted for attitude determination. The error of pitch angle is reduced from 20'to less than 1', the error of roll angle is reduced from 15' to less than 1', and the error of course angle is reduced from 25'to less than 1'. The corresponding alignment time is 10s, 5S and 100s respectively, and the alignment time of course angle is longer.