Research on shipborne transfer alignment under the influence of the uncertain disturbance based on the extended state observer

The process of the transfer alignment for the shipborne inertial navigation system is greatly affected by its external environment. Under the entire influence of its external environment, the structure of the ship will be deformated. First of all, the flexural deformation is analyzed in the environment of the engine vibration and the impact of waves, taking the lever arm effect into consideration. Secondly, the specific force integration matching scheme which is suitable to the moving of carriers in the environment of the low speed is adopted in order to accomplish transfer alignment between master and slave inertial navigation system. Thirdly, a method has been well designed to improve the Kalman filter techniques based on the extended state observer. The usage of the method makes it possible to estimate the disturbance of the uncertain model and realizes dynamic feedback linearization in the inertial navigation system for ship during the process of transfer alignment. Finally, the above theoretical analyses are verified through simulation.