传递对准姿态匹配的优化算法

 推导了4种传递对准姿态匹配算法，分析了这4种姿态匹配算法的优缺点，证明并验证了其中的“最优姿态匹配法”在姿态匹配算法中的最优性。首先介绍了传统的“姿态角匹配法”及其改进算法，即“姿态矩阵匹配法”，接着引入了量测失准角的概念，经过理论推导，提出了利用量测失准角进行传递对准姿态匹配的“量测失准角匹配法”。上述3种姿态匹配算法都是在子惯导安装角是小量的条件下推导而获得的，只能适用于安装角是小量的条件，具有一定的局限性。基于此，对“量测失准角匹配法”进行了完善，推导出了一种可在多挂点下使用的现代姿态匹配算法——最优姿态匹配法。从理论上证明了4种姿态匹配算法的相互关系。最后，采用“速度＋姿态”匹配方案进行的传递对准仿真结果表明：4种姿态匹配算法具有相同的估计精度；推导的“最优姿态匹配法”在保证精度的同时，可应用于子惯导安装角是任意角度的情况，具有更广的应用范围。

Optimal Algorithm of Attitude Matching in Transfer Alignment

Four kinds of attitude matching algorithms used in transfer alignment are derived,the advantages and disadvantages of the four algorithms are presented,and the optimal attitude matching algorithm(OAMA) is presented and proved.Firstly,the traditional attitude matching algorithm attitude angle matching algorithm(AAMA) and the improved algorithm attitude matrix matching algorithm(AMMA) are introduced.Then,the measurement misalignment is introduced,which is the product of the attitude matrixes of the master inertial navigation system(INS) and the slave INS,then the measurement misalignment matching algorithm(MMMA) is derived.The above three attitude matching algorithms are derived on the condition that the mount angles of the slave INS are small.Finally,the MMMA is improved which is more suitable when the multiple ejector racks are used to carry more weapons,and the improved MMMA is called OAMA.The relationships among four kinds of algorithms are proved in theory.The velocity plus attitude matching method is used in the simulation study of transfer alignment,and the results show that the four proposed algorithms have the same precisions when the input condition is same,and that the OAMA can be used in the condition when the mount angles of the slave INS are larger angles,which is more suitable for modern wars.