Research On Alignment Algorithm And Simulation Platform Of Car-inertial Navigation System

Virtual experiment is a key technology in the field of national defense science and technology. Performance testing and validation of vehicle inertial navigation system is a complex project, the shortcomings of inertial navigation system of physical experiment is time-consuming, costly, and virtual test technology can from a certain extent make up for the shortage. The Inertial Navigation System needs for the initial alignment before entering into the working state. For the vehicle-weapon system, the reduction of the initial alignment time can effectively reduce the launch preparation time, thus improving the survivability an d rapid response of the system. Therefore, it is necessary to study the simulation technology and the moving alignment technology of the inertial navigation system.Inertial measurement unit is the core device of inertial navigation system. In obtaining the output data of the inertial set, it will encounter many problems such as high cost, long test period, and the problem of error parameters. So, the carrier trajectory generator is designed in this paper,and the motion characteristic and trajectory generation algorithm of the carrier are analyzed,and the trajectory of the carrier and the IMU data are generated and simulated. Based on the analysis of the main factors affecting the transfer alignment accuracy, the research on the transfer alignment algorithm is studied. This paper derives the strapdown inertial guide system transfer alignment error equation, establish the velocity matching, velocity plus attitude matching mode of the state equation and measurement equation, the realization of the transfer alignment algorithm with the Kalman filter design. Based on the analysis of various errors, the vibration spectrum data is applied to the transfer alignment algorithm, and the results are verified by simulation experiments.In view of the disadvantages of many equipments and processes in the system of the vehicle used in the real system, a real-time simulation system of the inertial navigation system is developed, and the design idea of the system is introduced, and the design of the process flow and the interface design of the simulation system are accomplished. IMU data is collected through data acquisition card in Lab VIEW development environment, and the data processing is realized by calling dynamic link library function. So that the system has the functions of vector trajectory simulation, real-time navigation, transfer alignment and so on. Through the simulation experiment, the rationality of the process design and the acc uracy of the simulation algorithm are verified.The simulation platform can process operation, And it can successfully simulate the missile launching process, and the simulation results meet the design requirements of the index.