Research Of Unified Attitude Reference Technology Of The Whole Ship Based On Inertial Measurement

To ensure the well-balanced running of the weapon system such as missile and artillery and the observation system such as radar on the ship, Inertial Navigation System (INS) needs to offer high-precision course parameter, attitude parameter and their positional movement parameter, missile on the ship and plane also need these parameters to promise their inertial navigation equipment can make initial alignment and initial parameter binding quickly and accurately before being launched. Normally, Master Inertial Navigation System (MINS) located on the centre of ship can't become the unified attitude reference of the whole ship because of the infection of ship hull distortion, and weapon and observation system taking local attitude reference for themselves also bring the difficulty of the high cost and not easy to install and calibrate. Consequently, it is necessary to put forward the research of unified attitude reference technology of the whole ship based on inertial measurement.First of all this research deduced INS's error model base on the INS's working theory ,and introduced discrete Kalman filter's equation, this established the theory foundation for back chapters. Then, studied the key technology of theunified attitude reference technology of the whole ship------transfer alignmenttechnology, analyzed the theory of transfer alignment technology, then designed the Kalman filter model of angular rate matching method and velocity matching method, established the foundation for latter emulation and observability analyzing.On the base of the Kalman filter model of angular rate matching method and velocity matching method, this research did the emulation and observability analyzing to them, studied their selves's characters and adaptive sailing conditions, proved that angular rate matching method should put dynamic distortion into state vector to estimate when been affected by the ship hull dynamic distortion, and we would acquire higher estimating precision when ship had a wide range swaying, ship's linear movement didn't much effect to it. But velocity matching method could heighten heading uncertainty's estimating precision when had wide range linear movement, ship's swaying could increase accelerometer's observable degree.Last, this research studied other technologies in unified attitude reference technology of the whole ship, analyzed the working style of Distributed Attitude Reference, and demonstrated that project of unified attitude reference technology of the whole ship based on inertial measurement is viable.