Research On Relative Navigation Method Of Airborne Multi Task Node

With the sustainable development of military or civilian carrier platforms such as satellites,ships and aircraft,precision measuring instruments or detection equipment distributed on the carrier platform are more and more demanding,which requires accurate and reliable measurement of their own.The motion of the position or the relative motion state between the key position nodes.This paper mainly focuses on the research of multitasking node system composed of inertial navigation system and inertial elements distributed on the wing,and analyzes the dynamic relationship between multinodes and the relative navigation between nodes.The main research contents include:Firstly,the related theories of traditional transfer alignment are described on the basis of the definition and terminology of inertial navigation.The dynamic and kinematic relations between the multitasking node are deduced in detail,and the calculation method of the dynamic relation and relative dynamic relation among the nodes is proposed.Then the flexural deformation model of the wing arm and the wing of the multitasking node are analyzed.Then,a relative alignment method based on relative attitude matching is proposed based on the relative relation between nodes,and the relative attitude error equation is deduced.The relative attitude matching space model is established and it is observable Sexual analysis.Finally,the simulation of relative attitude estimation is verified by two kinds of matching methods of attitude matching and relative attitude matching.The relative attitude matching is compared with the relative attitude of the relative attitude in the case of large misalignment angle,and the relative attitude is verified matching the size of the case of misalignment angle relative attitude can effectively estimate.The observability analysis method is used to calculate the observable values of relative state variables with different state variables in different maneuver modes.The improved attitude model of the relative attitude matching transfer is improved by using the obtained observable value,which proves that it can improve the estimation speed without losing the estimation accuracy.With the further development of computer processing capability,communication technology and information fusion technology,it is possible to integrate the information between multi-node systems composed of multiple sets of inertial measurement systems on the carrier,so as to enhance the reliability of local and overall motion state And the measurement accuracy,so the study of the relative navigation relationship between multi-node systems has important practical significance and application value.