Dual-filter-based transfer alignment method under dynamic deformation

A dual-filter-based transfer alignment method under dynamic deformation, applied to an aircraft wing deformation measurement system, in which a main inertial navigation system is installed in a cabin and inertial navigation subsystems are installed on the wings, wherein the method comprises the following steps:

• generating attitude, speed and position information of the main inertial navigation system and outputs of a gyro and an accelerometer by using a trajectory generator, simulating flexural deformation angle {right arrow over (θ)} and flexural deformation angular speed {dot over ({right arrow over (θ)})} between the main inertial navigation system and the inertial navigation subsystems by using a second-order Markov, carrying out geometric analysis on the flexural deformation, and deriving an expression of coupling angle Δ{right arrow over (ϕ)} resulted from dynamic deformation of the carrier and movement of the carrier;
• using the flexural deformation angle, the flexural deformation angular speed and the coupling angle as state quantities, and establishing a model of filter 1 with an attitude matching method;
• establishing a dynamic lever arm model by using the flexural deformation angle and the coupling angle estimated in step (2), and deriving an expression of speed error and an expression of angular speed error;
• establishing a model of filter 2 by using the expression of speed error and expression of angular speed error derived in step (3) with a “speed+angular speed” matching method, estimating the initial attitude error of the inertial navigation subsystems, and using this error for initial attitude calibration of the inertial navigation subsystems, so as to accomplish a transfer alignment process.