基于测量矢量匹配的传递对准方法研究

给出了一种基于主、子惯导系统测量矢量匹配的传递对准方法。根据主、子惯导系统惯组感测的角增量和速度增量信息，用四元数迭代算法直接估计主、子惯导之间的安装误差四元数，从而实现子惯导系统的快速初始对准。仿真结果表明，在适当的姿态机动条件下算法收敛速度很快，且最终对准精度较高，能满足弹载惯导的对准要求。另外，算法在初始姿态误差达到30°时仍能收敛，可在需要高精度对准的情况下为进一步的基于最优滤波的精对准提供良好的小角度线性化条件。

Study on measurement vector matching based transfer alignment method

A vector matching based transfer alignment method is presented. The raw measurement information and quaternion recursive algorithm is employed to estimate the misalignment angle quaternion between the master and slave INS. Simulation results show that the algorithm can accurately converge to real value under special attitude maneuver, which can meet the requirement of the missile INS alignment. Besides the algorithm has good convergence even when the initial attitude errors reach 30°. It can make a good small error angle condition for the optimal filtering fine alignment algorithm when the high accuracy is needed.