一种速度匹配动基座传递对准的方法

介绍了一种速度匹配的动基座传递对准的方法。主子惯导均采用平台系统的指北导航方式，推导了平台对准误差方程，利用主子惯导的速度差信息构建控制回路对子惯导平台的水平失准角进行反馈修正，同时用卡尔曼滤波器估计出方位失准角，从而实现子惯导的初始对准。建立了相应的模型，对该传递对准方法进行了仿真验证，在仿真时考虑了杆臂效应的影响，加入了杆臂效应的算法补偿机制。仿真结果数据跟理论推导基本吻合，验证了方法的可行性。

A Method of Moving Base Transfer Alignment by Speed Matching

A method of moving base alignment by speed matching was introduced. Platform inertial navigation system (INS) worked in gyro compassing. The equations of alignment error were deduced. To align the sub-INS (S-INS) with the platform INS in the carrier (M-INS), a loop was constructed to correct the level angle between M-INS and S-INS, making use of the difference of speed calculated by different INS. At the same time, the azimuth was estimated by a kalman filter. A model was constructed to demonstrate the validity of this method in simulation. Considering the effect of lever arm, an arithmetic compensation was added in simulation. The result of simulation testing demonstrated the validity of this method.