스트랩다운 관성항법장치의 각을 이용한 초기전달 정렬기법

Transfer alignment for strapdown inertial navigation system by angle matching method

This paper suggests Kalman filter formulation using by precision GINS output angle for SDINS initial transfer alignment of missile. The Kalman filter model was derived from quaternion parameters and the transfer alignment system by angle matching method satisfies azimuth observability in horizontal angular motion. The estimated error of SDINS attitude settles to less 3mrad(1.sigma.) in 200 seconds at proper sea state.