针对系留式定位舱惯性测量单元对动态快速初始对准的需求,展开快速动态传递对准技术研究。设计了适合系留式定位舱惯性测量单元应用环境的传递对准算法,建立传递对准Kalman滤波模型,并进行了算法仿真验证。利用系留式定位舱惯性测量单元原理样机,借助双轴摇摆台进行了传递对准试验验证。统计结果表明,样机传递对准的航向精度优于3.4′,姿态精度优于1.7′。结果证明传递对准技术可用于系留式定位舱惯性测量单元初始姿态的确定,为后期潜艇本体位置归算提供保障。

Aiming at the demand of dynamic fast inertial alignment in mooring localizer inertial measurement unit, the fast dynamic transfer alignment technology is studied in this paper. A transfer alignment algorithm is designed, which is suitable for mooring localizer inertial measurement unit application environment. And transfer alignment Kalman fitering model is established. The algorithm is verified by simulation. Finally, utilizing the mooring localizer inertial measurement unit prototype, and by means of two axis swing platform, the transfer alignment test verfication is carried out. The yaw erro is less than 3.4′, and the attitude error is less than 1.7′. The results show that transfer alignment technology can be used for the initial position posture of mooring localizer inertial measurement unit, which guarantees accuracy of submarine body position reduction.