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中文摘要：
针对自主式水下潜器传递对准技术进行研究,根据以往的匹配方法中通常水平失准角估计精度高、对准时间快而方位失准角估计总不理想的情况,提出了一种基于惯性测量器件测量求解方位失准角的匹配方法。针对这种匹配方法,将水平失准角信息当作已知量进行计算,进行了理论推导和MATLAB仿真,并且对仿真结果进行分析,结果表明,利用这种方位对准方法估计方位失准角精度高、时间短,有很好的实用性。
英文摘要：
SINS（Slave Inertial Navigation System） transfer alignment technique for autonomous underwater vehicles is studied. In conventional method, the leveling alignment is accurate and fast, but the accuracy of heading alignment is not satisfactory. An algorithm of azimuth alignment based on the measurement data of inertial device is presented. In the method, related theory is deduced with the leveling alignment information as known variables. The Matlab simulation is carried out. The simulation results show that by this azimuth alignment method, heading alignment can be quickly estimated with high precision, so it has good usability.
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