RAPID INITIAL ALIGNMENT METHOD OF SLAVE INERTIAL NAVIGATION SYSTEM MOUNTED ON ROTORCRAFT

摘要

The present invention relates to a method for a rapid initial alignment of a slave inertial navigation system mounted on a rotorcraft. The method for the rapid initial alignment comprises: a step of performing pre-transfer alignment to estimate a non-alignment angle and time delay between a main inertial navigation system (MINS) and a slave inertial navigation system (SINS) on the basis of the speed and posture information delivered from the main inertial navigation system (MINS); a step of performing a mixed alignment in which the estimated non-alignment angle and the estimated time delay are applied to re-estimate the non-alignment angle and the time delay; and a step of removing a vibration frequency of a rotating wing using an adaptive notch filter during the performance of the pre-transfer alignment and the mixing alignment.