Abstract:

A controller design method for strapdown inertial navigation system in initial alignment was proposed.  State space mathematics model of SINS in initial alignment disturbance compensate was constructed by adopting flight pose deviation，velocity increment，and position increment. Based on Backstepping function control algorithm, virtue feedback control variable was imported and design nonliner controller to draught all states to attractive region of equivalent point collection. According to H2 optimal control theory, optimize choose method for weight matrix was introduced, and the linear optimal control law was obtained finally. Digital simulation and experiment results show that, the controller designed by this method can restrain disturb deviation for SINS in initial alignment quickly, and the proposed control method offer an useful reference to SINS used in engineering.

Key words: automatic control technology, strapdown inertial navigation system(SINS), Backstepping algorithm, H2 optimal control, parameter perturbation