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中文摘要：
针对快速传递对准过程中的大失准角情况，在建立非线性四元数误差模型的基础上，对利用姿态参数转换的四元数无迹卡尔曼滤波（QUKF）进行研究。通过四元数和修正罗德里格斯参数间的相互转换关系对四元数加权求和公式进行推导，使计算更为直观。针对扰动sigma点中四元数部分的规范性问题，通过先计算sigma点得到其向量部分，再利用单位化约束得到标量部分的方法进行解决，并在此基础上对含有姿态四元数的误差方差阵进行推导并给出相应公式。仿真结果表明，该算法对大失准角的估计准确度和快速性可以满足传递对准的要求。
英文摘要：
In order to solve the nion unscented filter algorithm problem making of large misalignment angle in rapid transfer alignment, a quater- the use of transformation of attitude parameters is investigated based on building nonlinear quaternion error model. Firstly, the transform relation between quaternion and modified Rodriguez parameters was utilized to derive the quaternion formula of weighted sum, which made the calculation more directly. Then the normalization problem of quaternion part in disturb sigma points was solved by the method which obtained the vector part by calculating the sigma points firstly, and got the scalar part according to the normalizing condition afterwards ; meanwhile, the error variance matrix containing the attitude quaternion was derived and corresponding formulas were presented on this basis. The simulation experiment shows that the estimation accuracy and rapidity of this algorithm for large mis- alignment angle can be satisfied for transfer alignment.
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