中文摘要：

提出一种机载武器捷联惯导系统任意失准角情况下的传递对准方法。该方法以两个相对惯性空间指向不变的坐标系为基础，将姿态四元数分解为可由子惯导陀螺仪输出计算的四元数、可由主惯导传递的信息计算的四元数以及需要估计的常值四元数。对比力方程进行数学变换，得到了线性量测方程。建立了任意失准角情况下的线性传递对准模型。设计了一种自适应卡尔曼滤波算法以解决观测噪声方差阵难以精确计算的问题。仿真结果表明，该方法在任意失准角情况下都能得到较高的对准精度，为机载武器捷联惯导系统提供了一种有效的传递对准方法。

英文摘要：

A transfer alignment method based on inertial reference frame for airborne weapon＇s strapdown inertial navigation system （SINS） with arbitrary misalignment angles is presented. Based on two inertial frames, the attitude quaternion is decomposed into three elements： the quaternion that can be determined by slave SINS gyros output, the quaternion that can be calculated by master SINS information and the constant quaternion that need to be estimated. Employing mathematical transformation on specific force equation, the linear measurement equation is obtained. The linear transfer alignment model with arbitrary misalignment an-gles is built. An adaptive Kalman filter is designed to handle the measurement noise statistics cannot be accu-rately determined problem. Simulation results show that this method possesses a high accuracy in arbitrary mis alignment angles, which provides an effective transfer alignment method for airborne weapon＇s SINS.