Intertial navigation initial alignment method, apparatus and device applicable to inclination measurement

An inertial navigation initial alignment apparatus applicable to inclination measurement, comprising:

• an acquisition module configured to acquire a first specific force vector of an inertial navigation system of a receiver in a body coordinate system, and Doppler velocity information and position information output by the receiver, wherein the first specific force vector is output by an accelerometer of the inertial navigation system of the receiver;
• a first determination module configured to determine, according to the Doppler velocity information and the position information, a second specific force vector of the inertial navigation system of the receiver in a navigation coordinate system;
• a second determination module configured to determine a first projection of the first specific force vector in an initial moment body inertial frame, and determine a second projection of the second specific force vector in an initial moment navigation inertial frame, wherein the initial moment body inertial frame coincides with the body coordinate system at an initial alignment starting moment, and the initial moment navigation inertial frame coincides with the navigation coordinate system at the initial alignment starting moment;
• an integration module configured to perform time integration on the first projection and the second projection respectively to obtain first projection integration velocities and second projection integration velocities;
• and
• a third determination module configured to determine, according to the first projection integration velocities and the second projection integration velocities of at least two different moments, a first relative relationship of the body coordinate system with respect to the navigation coordinate system to perform initial alignment on the inertial navigation system.

An electronic device comprising a processor and a memory storing computer program instructions;

• wherein the processor executes the computer program instructions to implement operations comprising:
• acquiring a first specific force vector of an inertial navigation system of a receiver in a body coordinate system, and Doppler velocity information and position information output by the receiver, wherein the first specific force vector is output by an accelerometer of the inertial navigation system of the receiver;
• determining, according to the Doppler velocity information and the position information, a second specific force vector of the inertial navigation system of the receiver in a navigation coordinate system;
• determining a first projection of the first specific force vector in an initial moment body inertial frame, and determining a second projection of the second specific force vector in an initial moment navigation inertial frame, wherein the initial moment body inertial frame coincides with the body coordinate system at an initial alignment starting moment, and the initial moment navigation inertial frame coincides with the navigation coordinate system at the initial alignment starting moment;
• performing time integration on the first projection and the second projection respectively to obtain first projection integration velocities and second projection integration velocities;
• and
• determining, according to the first projection integration velocities and the second projection integration velocities of at least two different moments, a first relative relationship of the body coordinate system with respect to the navigation coordinate system to perform initial alignment on the inertial navigation system.