A large misalignment error model of strapdown inertial navigation system(SINS) was deduced for the large relative attitude of rapid transfer alignment existing between the master and slave SINS. The Euler angles were introduced to describe the attitude errors. The Euler's kinematics equations were applied to achieve the accuracy error model. The unscented Kalman filter (UKF) was applied to avoid the derivation calculus of the attitude measurement equations which were complex nonlinear functions. The singular value decomposition (SVD) was used to solve the ill-conditioned problem of covariance matrix. The simulation experiment results show that the alignment accuracy is improved both in small angle uncertainties, and large angle uncertainties.
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谭红力,黄新生,岳冬雪.捷联惯导大失准角误差模型在快速传递对准中的应用. Rapid Transfer Alignment Based on Large MisalignmentSINS Error Model[J].国防科技大学学报,2008,30(6):19-23.