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A fast and accurate transfer alignment method without relying on the empirical model of angular deformation

Published online by Cambridge University Press:  01 June 2022

Jie Yang
School of Astronautics, Beihang University, Beijing 100083, China
Xinlong Wang*
School of Astronautics, Beihang University, Beijing 100083, China
Xiaokun Ding
The Flight Automatic Control Research Institute of AVIC, Xi'an 710065, China
Qing Wei
The Flight Automatic Control Research Institute of AVIC, Xi'an 710065, China
Liangliang Shen
Beijing Institute of Control & Electronic Technology, Beijing 100038, China
*Corresponding author. E-mail:


This paper, in allusion to the limitations of traditional transfer alignment methods based on the external measurement equipment or the empirical model of angular deformation, proposes a rapid and accurate transfer alignment method without relying on the empirical angular deformation model. Firstly, the relationship between the actual angular deformation and the angular velocities measured by the gyroscopes in the master and slave inertial navigation systems (INSs) is derived to roughly estimate the angular deformation. Secondly, according to the error characteristics of gyroscopes, the error model of angular deformation is established. Thirdly, expanding the angular deformation error instead of the installation error angle, flexure angle and flexure angle rate into the state vector, a low-order transfer alignment filtering model independent of the empirical angular deformation model is established. The proposed method not only gets rid of the dependence on an empirical angular deformation model, but also realises the rapid and accurate initial alignment of the slave INS without adding any external measurement equipment. The simulations and experiments evidence the validity of the proposed transfer alignment method.

Research Article
Copyright © The Author(s), 2022. Published by Cambridge University Press on behalf of The Royal Institute of Navigation

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