Initial Alignment Methods Of Inertial Navigation System And Experiment

As it’s always been, inertial navigation is distinguished from the other navigationtechnology with it’s peculiar autonomous character which makes it the priority researchareas of the relevant research fields. And the technology of initial alignment is one ofthe most important guarantee of the realization of the inertial navigation system. Thisstudy is based on the experimental equipment of the attitude control of spacecraft,aimed at the method for processes of initial alignment and the implementation of theexperimental equipment. The main content includes the following parts:Firstly, we establish the error equation of the INS(inertial navigation system) andstudy the relevant alignment methods. Based on the fundamental motion equations, wetransform the forms of the measurable variables in order to facilitate the analysis byselect relevant coordinate systems. Then model and analyze the error propagationequation by the mechanism of the establishment of the inertial navigation system error.We adopt the appropriate alignment method according to the index of time and accuracythat required by the alignment process, therefore, we chose two-position alignmentmethod for the platform INS while apply attitude matrix calculation algorithm to thestrapdown INS.Secondly, the main study is the application of Kalman filtering in initial alignment.Process the data sampled to achieve more accurate information which is applied to theattitude matrix calculation algorithm by Kalman Filter and verified by simulationexperiment.Finally, based on the experimental equipment of the attitude control of spacecraft,real-time interface with PC through serial-port communication, executive data gatheringprogram with inner timer and verify if the alignment process can reach the requirementof the index of alignment time and accuracy by simulation which is compiled by theGUI user interface and the internal control procedure.