Rapid Reduction Dimensionality Transfer Alignment Method Based on CKF for SINS of Ship-borne Aircraft with GNSS Assistance

Abstract

Abstract Aiming at the problem of rapid transfer alignment of inertial navigation system in shipborne environment with large azimuth misalignment angle, a dimension reduction fast transfer alignment scheme of shipborne aircraft inertial navigation system based on CKF algorithm is designed. Firstly, the nonlinear attitude error equation, velocity error equation and position error equation of the Global Navigation Satellite System (GNSS) assisted strapdown inertial navigation system in the case of large azimuth misalignment are analyzed. Secondly, the nonlinear dimensionality reduction rapid transfer alignment state equation and measurement equation are derived. Finally, the CKF algorithm is simulated and verified, and compared with EKF algorithm and UKF algorithm. The simulation results show that the reduced dimension fast transfer alignment method of shipborne aircraft inertial navigation system based on CKF algorithm can complete the estimation of attitude error angle in 80s, with horizontal estimation error of 1’ and azimuth error of 4’, and the estimation accuracy is equivalent to EKF and UKF, with less calculation and better rapidity.