公开(公告)号：US20210080287A1

公开(公告)日：2021-03-18

申请号：US16922241

申请日：2020-07-07

Applicant: Harbin Engineering University

Inventor： Bo Xu ,  Lianzhao Wang ,  Lei Wu ,  Shengxin Li ,  Jiao Zhang ,  Kunming Jin ,  Yu Guo ,  Dalong Zhang

IPC: G01C25/00 ,  G01C21/16

Abstract: The invention provides a method for initial alignment of radar assisted airborne strapdown inertial navigation system. By calculating the slant distance and angular position between the radar and the airborne inertial navigation equipment, a nonlinear measurement equation for the initial alignment of the radar assisted inertial navigation system is obtained. The unscented Kalman filter algorithm is used to estimate and compensate the error amount of strapdown inertial navigation system to complete the initial alignment task. The significance of the present invention is to provide an in-flight initial alignment solution when the global positioning system is limited, which has fast convergence speed and high estimation accuracy and has high engineering application value.

公开(公告)号：US11313698B2

公开(公告)日：2022-04-26

申请号：US16922241

申请日：2020-07-07

Applicant: Harbin Engineering University

Inventor： Bo Xu ,  Lianzhao Wang ,  Lei Wu ,  Shengxin Li ,  Jiao Zhang ,  Kunming Jin ,  Yu Guo ,  Dalong Zhang

IPC: G01C25/00 ,  G01C21/16

Abstract: The invention provides a method for initial alignment of radar assisted airborne strapdown inertial navigation system. By calculating the slant distance and angular position between the radar and the airborne inertial navigation equipment, a nonlinear measurement equation for the initial alignment of the radar assisted inertial navigation system is obtained. The unscented Kalman filter algorithm is used to estimate and compensate the error amount of strapdown inertial navigation system to complete the initial alignment task. The significance of the present invention is to provide an in-flight initial alignment solution when the global positioning system is limited, which has fast convergence speed and high estimation accuracy and has high engineering application value.