传递对准中测量延迟的补偿方法

采用“速度 姿态”匹配方式，提出了一种解决传递对准中主惯导数据测量延迟现象的方法。该方法将主惯导数据测量延迟时间扩展为卡尔曼滤波器的一个状态变量，并同时考虑了测量延迟时间对速度和姿态测量量的影响。在主惯导数据存在测量延迟的情况下，推导了速度、姿态测量方程，最后对提出的方法进行了仿真。仿真结果表明，该方法可以加快滤波器的收敛速度，提高传递对准的对准精度。

Compensation Method for Measurement Delay in Transfer Alignment

Using velocity and attitude matching, a method for solving the problem resulting from measurements transfer delay of Main INS in transfer alignment is studied. The method augments the measurement delay as a state of conventional Kalman filter as a state, and impacts on both velocity and attitude measurements owing to the time delay are also considered. Measurement equations are rebuilt considering the measurement delay. The simulation results show that the present method is effective to quicken the convergence of the Kalman filter and to improve the precision of transfer alignment.