传递对准中一种新的姿态匹配算法

A Different and Better Algorithm for Attitude Match of Transfer Alignment

根据Kain J E和Cloutier J R定义的量测失准角,设计了一种新的姿态匹配量测方程。通过与传统传递对准方程比较,推导出了这种姿态匹配量测方程。由推导出的量测方程,指出平台失准角、量测失准角和实际失准角三者之间的关系。该量测方程使传递对准姿态量测方程形式简单,计算量减少。最后,采用"速度+姿态"匹配方法进行仿真,仿真结果表明:该方法与其它姿态角量测方法比较,在降低计算量的同时,仍然具有相同的估计精度。

Aim. Ref. 3 authored by Kain et al presented an attitude match measurement equation （AMME） without derivation; it is much simpler than traditional ones. We utilize Ref. 3＇s AMME after derivation. The insight gained through such derivation allows us to propose an algorithm that is different from that of Ref. 3. It is better than Ref. 3＇s algorithm in that it is not limited to rapid transfer alignment. It is better than traditional algorithms because it is much simpler and the computation load is much less. In the full paper, we explain our algorithm in some detail. In this abstract, we just add some pertinent remarks to listing the two topics of explanation. The first topic is ： the modeling of AMME. In this topic, we utilize after deriving the relationship given by Kain et al in Ref. 3 among the platform misalignment, measurement misalignment and physical misalignment as shown in Fig. 1 of the full paper. The second topic is： simulation and analysis. In this topic, we simulate traditional attitude measurement equation, traditional attitude matrix measurement equation and our AMME using the method of both velocity match and attitude match. The simulation results given in Table 1 and Fig. 2 show preliminarily that under the same simulation conditions, all the three measurement equations （two traditional ones and ours） are equally precise in estimating transfer alignment errors, the precision being less than 1 arc second. The simulation results also show that our AMME obtains measurement matrices through utilizing the attitude matrix of the slave SINS, thus reducing computation load.