Ground static alignment method not affected by historical data and for achieving rapid convergence

• Main Authors: ZHANG LIMIN, SANG XIAOCHONG, ZHANG GUOZHU, DONG JINFANG, LIU YUN, WANG XIANZHONG
• Format: Patent
• Language: Chinese; English
• Published: 26.04.2019
• Subjects: GYROSCOPIC INSTRUMENTS; MEASURING; MEASURING DISTANCES, LEVELS OR BEARINGS; NAVIGATION; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; SURVEYING; TESTING

The invention discloses a ground static alignment method not affected by historical data and for achieving rapid convergence. The ground static alignment method comprises the following steps: 1, converting an inertia unit gyro angular rate and a table-adding specific force to a quasi-northeast coordinate system and executing preprocessing; 2, estimating a horizontal misalignment angle and executing segmented processing based on the north-direction and east-direction specific forces of the quasi-north-east coordinate system; 3, estimating an azimuth misalignment angle and executing segmented processing based on the east-direction angular rate of the quasi-north-east coordinate system; 4, based on the horizontal and azimuth misalignment angles, calculating a fine alignment angle by utilizingquaternion multiplication. The ground static alignment method achieves fine alignment based on the dynamically corrected quasi-north-east coordinate system. After the change of an inertia posture, the method is not affected