Application of a Novel Fast Transfer Alignment Algorithm on SINS for Vehicular Launching System

摘要

To improve the transfer alignment precision and reduce the alignment time of Strapdown Inertial Navigation System (SINS) for fast-response and maneuvering launching of vehicular launching system are of great importance. In this paper, a novel fast and high-precision transfer alignment algorithm is designed. The “speed + attitude” matching model is used for transfer alignment filter measurement updates, and meanwhile its lever-arm error is compensated and eliminated through the direct calculation. In addition, an embedded hardware platform of transfer alignment information solution system is constructed based on the FPGA+DSP processor. Finally, in order to verify the performances of the transfer alignment algorithm, a vehicular launching system is used as the carrier, and the launching arm is erected as the transfer alignment maneuvering condition. The results shown that the azimuth misalignment error estimated by transfer alignment system is less than 3’, and the errors of pitch and roll misalignment angles are less than 2’ within 10s launching arm maneuvering condition, which proves the effectiveness and viability of the proposed algorithm.