Research On Transfer Alignment And Accuracy Evaluation Technology Based On Large-scale Underwater Vehicle Inertial Navigation System

Large underwater vehicles have a wide range of application prospects in military and many another fields. Currently, the United States, Britain, Germany, France, Russia and many another countries put more and more manpower and material resources into the research and development of large underwater vehicles. For now, Inertial navigation system is the main navigation equipment of the large underwater vehicle, and initial alignment of Inertial Navigation System on moving base has been one of its critical technical problems. The research of transfer alignment of the large underwater vehicles has great significance for its engineering application. Platform inertial navigation system is widely used in China for its high precision.This paper pay attention to the research and design of alignment technique of platform inertial navigation system for the large underwater vehicles.This paper makes a study of platform inertial navigation system.Firstly the related theories knowledge is introduced. According to the basic principle of navigation, the mathematical derivation fo the error equations of platform inertial navigation system is given in detail. Then a brief introduction of the principle and features of Kalman filter equations is given for the further study of the following chapters.To choose a appropriate method for the initial alignment of the large underwater vehicle,the paper makes a detail analysis of classical algorithms, including velocity matching?force matching?attitude matching?angular rate matching?Comparing the simulation results,velocity and force matching is chosen. Since the accuracy of this matching program is greatly affected by maneuvering.In order to disign a rational approach for the passing maneuver designed to align the way for four typical maneuvering large underwater vehicle is simulated?In transfer alignment process,the master inertial navigation system-related information need transmitted to the sub-inertial navigation system,Since the sensor measurements require a certain reaction time measurement information led to time-delay.Articles state the amount of amplification method using the algorithm was compensated.Simulation results show that compensation can be effectively reduced by the time delay of the algorithm.For large underwater vehicle platform inertial navigation system, the typical working conditions, taking master precision inertial navigation system as a reference system, the evaluation of the precision of its transfer alignment is studied. Selecting the speed and position as a measurement, according to the error equations and mechanics equations of the platform inertial navigation system platform inertial navigation system, the state-space model of transfer alignment for accuracy assessmentis proposed. Using Kalman filter smoothing algorithm, transfer alignment accuracy assessment realized.Based on the above, considering the convenience for transfer alignment design, making use of MATLAB GUI technology , a transfer alignment simulation platform is developed. In the platform, the navigation parameters, compensation algorithm, the carrier mobility parameters, and device errors, can be modified to achieve the transfer alignment program design.