Research Of Technique For Initial Alignment Of GFSINS

Gyroscope Free strapdown inertial navigation system(GFSINS) is a measure unit of strapdown inertial navigation ,which replaces a gyroscope with accelerometer and calculates angular speed from a measure of the specific force, constituted with accelerometer. The current research shows that the system is good to inertial guidance of big dynamic state and short navigation time and has a lot of advantage, for example low cost and low achievement consume, longevity life etc. Initial alignment is a key technique and its result affect the navigation accuracy directly. Researching alignment of gyroscope SINS has fully developed form theory to application, yet inertial alignment of GFSINS is a new challenge.The thesis deduce automatic alignment of GFSINS with six accelerometers. Methods of alignment include automatic alignment and transfer alignment. The first one can divided into two type ,based on carrier movement and on accelerometer single axle gyrate. And I give a improvement method of together genetic algorithm with automatic alignment. In the thesis I founded kalman filter model and estimated lose accuracy angular of transfer alignment. Finally accomplishing transfer alignment of GFSINS with a correction of attitude matrices.The whole thesis discuss some urgent resolved question and a orientation development,which will provided a certain reference.