Application of Attitude Matrix Row Element Sum Matching in Transfer Alignment

Abstract

To reduce the calculation brought by attitude angle and attitude matrix matching as well as to insure the transfer alignment accuracy, the paper gives a method that uses slave inertial navigation system (SINS) error model as the state-space model. The complexity of the state equation can be simplified by this method, for the lever-arm effect can be compensated in the observables rather than considering it in the equation of state, in which the inputs do not need to be brought in the equation of state; On the basis of element matching of the attitude matrix with SINS and master inertial navigation system (MINS), the paper raises row elements sum matching method of attitude matrix, which has simpler structure of the observation matrix and lower dimension compared to attitude angle matching and element matching of the attitude matrix, so as to decrease filtering computation. Simulation results have proved that the model and matching algorithm in this paper are effective and the system can achieve higher transfer alignment accuracy.