速度加姿态匹配的传递对准算法研究

Algorithm of Velocity Plus Attitude Transfer Alignment Matching

推导了速度加姿态匹配的传递对准误差方程,利用二阶Markov过程对载体的挠性变形角进行了建模,以此为基础,设计了最优卡尔曼滤波方程。为进一步提高系统的应用范围和可靠性,对最优卡尔曼滤波器进行简化,形成次优卡尔曼滤波器,并利用Matlab工具进行了仿真和试验数据验证,证明了次优卡尔曼滤波器工程应用的可行性和可靠性。

The error equation of velocity plus attitude matching transfer alignment is deduces, and the second-order Markov process is applied to construct the flexibility model of the bending angle. Basing on these, an optimizing Kalman fliter function is designed. For improving the range of the application and reliability of the optimizing Kalman filter, the dimensions of the optimizing Kalman filter are simplified to form a reduced Kalman filter. An inferior Kalman filter is got and used.