CAJ | 학술논문

传统的姿态匹配传递对准需要主、子惯性测量单元（inertial measurement unit，IMU）分别惯导解算，得到两个姿态向量或姿态阵构造观测量。提出利用主、子 IMU 输出直接解算主、子 IMU 之间的相对姿态来构造匹配量的一种新的传递对准方法。首先推导了主、子相对姿态矩阵微分方程，并给出求解方法，得到的相对姿态矩阵计算值与初始相对姿态矩阵相乘作为观测信息；然后推导建立了相对姿态的误差方程，由此给出了传递对准状态空间模型；最后讨论建立了仿真验证环境，仿真结果表明，子陀螺精度为1（°）/h 时，子 IMU 对准精度可以达到3′以内，并在10 s 内迅速收敛。该方法同时适用于精确确定大角度或小角度的子 IMU 相对姿态，为关键位置实时高精度姿态基准的建立提供了技术参考。
전통적자태필배전체대준수요주、자관성측량단원（inertial measurement unit，IMU）분별관도해산，득도량개자태향량혹자태진구조관측량。제출이용주、자 IMU 수출직접해산주、자 IMU 지간적상대자태래구조필배량적일충신적전체대준방법。수선추도료주、자상대자태구진미분방정，병급출구해방법，득도적상대자태구진계산치여초시상대자태구진상승작위관측신식；연후추도건립료상대자태적오차방정，유차급출료전체대준상태공간모형；최후토론건립료방진험증배경，방진결과표명，자타라정도위1（°）/h 시，자 IMU 대준정도가이체도3′이내，병재10 s 내신속수렴。해방법동시괄용우정학학정대각도혹소각도적자 IMU 상대자태，위관건위치실시고정도자태기준적건립제공료기술삼고。
In the traditional attitude matching transfer alignment,observation is constructed with two atti-tude vectors or attitude matrixes respectively calculated by master and slave inertial navigation systems.A new transfer alignment scheme of relative attitude matching is proposed in detail.The relative attitude is calculated directly using output of master and slave strapdown inertial measurement units (IMUs).Firstly,the differential equation of rotation matrix from the master IMU frame to the slave is derived,and a solution for the equation is given.The resulting relative attitude multiplying the initial relative attitude forms the observation.Then the relative attitude error propagation function is derived.Based on this,a state-space model of the transfer align-ment is represented.Finally,the evaluation environment for simulation is discussed and built.Results indicate that when the gyroscope precision of the slave IMU is 1(°)/h,the alignment accuracy reaches to 3′and conver-ges quickly in 10 s.The method is suitable for the accurate determination of both small and large relative atti-tudes of the slave IMU,and thus provides a technical reference for the real-time attitude acquisition of critical position with high accuracy.