Design of the kalman filter for transfer alignment of strapdown inertial navigation system

스트랩다운 관성항법장치의 초기정렬 전달 칼만필터 설계

In order to develope transfer alignment algorithm which achieves accurate initial alignment of slave strapdown inertial navigation system(SDINS) of a missle using master SDINS of mobile launchers third-order suboptimal filter is constructed to estimate the transformation matrix between two SDINS coordinates. In Kalman Filter formulation, the measurement equation uses that of accelerometer when stationary, and is replaced by that of gyroscope when elevating the missle. This switching method is applied to increase the degree of observability and to remove the error generated by lever arm effect. Simulation results show that the azimuth transfer error is about 0.3 mrad, and confirm that this scheme has a potential for real application.