传递对准中主惯导速度匹配量的实时构造算法

研究了当机载主惯导和弹载子惯导分别采用地理坐标系和准惯性坐标系作为导航坐标系时，传递对准过程中主惯导速度匹配量的实时构造算法。提出了利用主惯导导航参数实时构造主惯导速度匹配量的地速转换和修正算法，利用主惯导加速度计输出实时构造主惯导速度匹配量的比力积分算法，以及利用主惯导导航参数和加速度计输出实时构造主惯导速度匹配量的比力积分修正算法。仿真结果表明，3种实时算法在算法精度和计算量方面各有所长。

On-line Algorithm for Constructing Velocity Matching Data of Master INS for Transfer Alignment

Velocity matching of the transfer alignment (TA) is the method used to difference the velocity matching data of the slave inertial navigation system (INS) mounted on the weapon and the master INS mounted on the airplane. Unfortunately the navigation frame of a certain kind of the slave INS which is the quasi-inertial frame is different from the navigation frame of the master INS which is the geographic frame, and therefore the velocity matching data of the master INS for TA, which is the counterpart of the quasi-inertial-frame-referenced velocity of the slave INS, should be constructed by the output of the master INS. In this paper, three kinds of on-line algorithms are proposed to construct the velocity matching data of the master INS for TA: (1) the earth-referenced velocity conversion and compensation algorithm; (2) the specific-force-integrated algorithm; and (3) the modified specific-force-integrated algorithm. Algorithm (1) uses the navigation parameters of the master INS including the earth-referenced velocity and the latitude and longitude, algorithm (2) uses the specific force of the master INS, and algorithm (3) uses the specific force and the latitude and longitude of the master INS to construct the velocity matching data of the master INS for TA. Results of the simulation lasting 100 seconds show that the error of algorithm (1) is less than 1.5 cm/s, the error of algorithm (3) is less than 3.5 dm/s, and the error of algorithm (2) is less than 2.5 m/s. But algorithm (1) has the biggest computation overhead, followed by algorithm (3) and algorithm (2).