Airborne Tactical Weapon Transfer Alignment Delay Error Compensation Algorithm

The research on rapid transfer alignment for SDINS on moving base is very important in the filed of the inertia technology,especially in the situation which airborne tactical weapon make an important role in the local wars currently. The requirement of high performance about the convergent velocity and precision in transfer alignment is made,as a result, it is important to improve the performance of the transfer alignment.This paper analyzes the errors reuslting from the time delayed and the method to compensate the errors.The analysis is based on the research of the velocity and attitude matching method .The main work of this paper is:1 Intrducing the basic theory of the transfer alignment. Defining the coordinates that are used usually in transfer alignment and their relationship. Deducing the attitude algorithm , equation of dynamics arranger of SDINS and the error equation of airborne main SDINS and slave SDINS onboard the missile.The kalmen filters theory have been stated too.2 Intrducing some kinds of methods for rapid transfer alignment.Deducing the state equation of velocity and attitude in detail, matching,designing the velocity and attitude matching kalmen filters,buliding the simulating model,analyzing the data.3 analyzing process of delayed error in transfer alignment in detail,designing the extented kalmen filters,proposing the extented quaternion compensation algorithm, simulating and analyzing these algorithms.The main innovations in this thesis are proposing the new delay error compensation algorithms--the extented quaternion compensation algorithm,and designing the extented kalmen filters based on the current research,obtaining a ideal results.