提出了一种改进的速度加角速度传递对准的方法,该方法用主惯导输出的姿态角速度信息计算角速度,利用速度和角速度在导航系下的投影作为观测信息,直接估计子惯导姿态误差。仿真结果表明,在低海况情况下该方法比传统的速度加角速度匹配具有更好的估计效果。

An improved transfer alignment of velocity plus angle rate was presented. The attitude angular velocity of master inertial navigation system (MINS) was used to calculate angle rate. The velocity and angle rate under the navigation coordinate system were used for measurement variables, and the attitude error of slave inertial navigation system(SINS) could be estimated directly. The final simulation result shows that the method can get better estimation performance than conventional one under low sea state environment.