| In today’s world, electro-optical targeting pod has a broad space and application prospect in military and civil field,and a new generation of electro-optical targeting pod is developing towards dynamic calibration target and measuring attitude,positioning the goal of integration development.To achieve this goal, the targeting pod must introduce a strapdown inertial navi-gation system (SINS), the rapid and high precision transfer alignment for SINS will become a key technology to be solved.This paper takes a type electro-optical targeting pod system as the research background.it has mainly carried on the theoretical research for transfer alignment technology in the system, and designed multitasking software based on VxWorks operating system.then a large number of engineering practices have been made.First of all,this paper introduces the basic principle of SINS, the navigation algorithm and its error model, then derives the "velocity+attitude" matching transfer alignment algorithm, kalman filter state equation and observation equation are given.lever-arm effect and time synchronization are presented and analyzed,which affect the precision of transfer alignment. Also high precision time synchronization scheme is designed.Then it designs the transfer alignment multitasking software based on Vx Works real-time operating system.Finally the hardware-in-the-loop simulation system based on PowerPC is designed,it simulates the process of normal take-off,crawling,acceleration and turning,do a lot of hardware-in-the-loop simulation test, then join the actual MINS, IMU, GPS receiver and fire control system, in the face of more real engineering application environment, repeatedly made the ground vehicle test, a large number of experimental data show that the system design of multitasking software and various performance of transfer alignment algorithm can meet the requirements of indicators, it has laid a solid theoretical and practical basis on the next flight test for pod model project. |
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