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Research on the Lever Arm Effect of Speed Matching Transfer Alignment

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Tutor: SunFeng
School: Harbin Engineering University
Course: Measuring Technology and Instruments
Keywords: Transfer alignment,Velocity matching,Lever arm effect,Attitude matrix,Kalman fil
CLC: TJ765.3
Type: Master's thesis
Year:  2009
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Abstract:
Modern war demand quick response of weapons. And the response time is mainly dependent on the time of initial alignment of the inertial system in the weapons. It takes too much time for the tradition autonomous initial alignment, and it must be done on static base. As a result, it is not suited to the real envorinment of the weapon, and does not meet the demand of modern war. So, transfer alignment on moving base is the necessity for the development of modern weapons equipment.Before the SINS (slave inertial navigation system) is entirely aligned, the difference between MINS (master inertial navigation system) and SINS performance parameter output can reflect the size of misalignment in some extent. Make use of this theory set up corresponding error model and using some estimate method, then the misalignment can gain.The methods of transfer alignment include mainly angular rate matching, ttitude matching and velocity matching. In domestic, the MINS is usually plateform inertial system. As the inertial system cannot provide the angular speed directly, the angular rate matching is constrained; because the distortion of the ship will cause error of the attitude, the precision will be limited, as a result, the attitude matching is suitable only for rough alignment. The precision of velocity matching is very high, and it is suitable for fine alignment. Consequently, the velocity matching is studied in this paper.As MINS and SINS can not be strictly in the same location, when there is angle motion, the speed sensed by MINS and SINS will be different. Such a phenomenon is called level arm effect. As a result, the difference of speed between MINS and SINS will include the level arm speed. If the level arm speed is not compensated, it will do harm to the transfer alignment.This paper’s researches mainly based on actual using of transfer alignment. First, introduce the foundation of velocity matching transfer alignment, ,and then research the level arm effect in the real application thoroughly. The main work of this paper is as follow.Firstly, use velocity matching as the research object. Study how the arm level effect arises, and its effect to transfer alignment. In this paper, tow method of compensation of level arm effect is analyzed. The first one is using digit filter, and the second one is compensating by computing directly. After analyzed the two method mentioned above, a new method of compensation is proposed. This method make use of the information provided by MINS to calculate the level arm effect. As the MINS can provide the attitude of the ship, and by doing differentiation over the attitude can get the angle speed of the ship, and then the level arm effect can be calculated. For different parameters, a group of simulation is done.Based on the work mentioned above, a simulator for velocity matching transfer alignment is realized. The simulator can use multiple method to compensate the level arm effect, so as to compare and study these different way of compensation.
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