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. 2022 Jan 18;12(1):946.
doi: 10.1038/s41598-021-04732-4.

Adaptive transfer alignment method based on the observability analysis for airborne pod strapdown inertial navigation system

Weina Chen  1 , Zhong Yang  2 , Shanshan Gu  3 , Yizhi Wang  3 , Yujuan Tang  3
Affiliations

Adaptive transfer alignment method based on the observability analysis for airborne pod strapdown inertial navigation system

Weina Chen et al. Sci Rep. .

Erratum in

Abstract

For the airborne pod strapdown inertial navigation system, it is necessary to use the host aircraft's inertial navigation system for the transfer alignment as quickly and accurately as possible in the flight process of the aircraft. The purpose of this paper is to propose an adaptive transfer alignment method based on the observability analysis for the strapdown inertial navigation system, which is able to meet the practical need of maintaining the navigation accuracy of the airborne pod. The observability of each state variable is obtained by observability analysis of system state variables. According to the weight of the observability, a transfer alignment filter algorithm based on adaptive adjustment factor is constructed to reduce the influence of weak observability state variables on the whole filter, which can improve the estimation accuracy of transfer alignment. Simulations and experiment tests of the airborne pod and the master strapdown inertial navigation systems show that the adaptive transfer alignment method based on the observability analysis can overcome the shortage of the weak observability state variables, so as to improve the alignment and the navigation performance in practical applications, thus improving the adaptability of the airborne pod.

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Conflict of interest statement

The authors declare no competing interests.

Figures

Figure 1
Figure 1
The schematic diagram of master SINS and slave SINS.
Figure 2
Figure 2
The discrete measurement sequence.
Figure 3
Figure 3
Comparison of state observability degree under 4 different maneuvering modes.
Figure 4
Figure 4
Misalignment angle estimation comparison.
Figure 5
Figure 5
Misalignment angle estimation comparison with abnormal noise measurement.
Figure 6
Figure 6
The vehicle experiment test platform and the tested trajectory.
Figure 7
Figure 7
The alignment estimation error comparison in the accelerated linear motion.
Figure 8
Figure 8
The alignment estimation error comparison in the turning motion.
See this image and copyright information in PMC

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