Integrated alignment method for large misalignment angle of moving base under unknown latitude condition

• Main Authors: GUO YIJIE, NIE JIAN, WANG WANQIANG, SONG JINXING, ZHAO YUXIN, XU GUIPENG, HUANG HONGDIAN, LI QIAN, BEN YUEYANG
• Format: Patent
• Language: Chinese; English
• Published: 30.05.2023
• Subjects: GYROSCOPIC INSTRUMENTS; MEASURING; MEASURING DISTANCES, LEVELS OR BEARINGS; NAVIGATION; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; SURVEYING; TESTING

The invention relates to an integrated alignment method for a large misalignment angle of a movable base under the condition of unknown latitude. The integrated alignment method comprises the following steps: acquiring the specific force of an accelerometer and the angular velocity of a gyroscope and updating a conversion matrix; calculating the projection of the gravitational acceleration in a carrier inertial solidification coordinate system, and calculating a gravitational acceleration cone projection drift angle; establishing a state recursion equation and an SINS state recursion equation of a gravitational acceleration cone projection drift angle under the movable base; establishing a large misalignment angle integrated alignment filtering state equation and an alignment filtering measurement equation under the movable base; and establishing a large misalignment angle integrated alignment filtering model, and estimating a state variable based on simplified unscented Kalman filtering. By adopting the inte