Design of transfer alignment algorithm in ship of horizontal axis attitude motion

수평축 자세운동이 있는 배에서의 전달정렬 알고리즘 설계

This paper presents algorithm including Kalman filter for transfer alignment of velocity and quaternion matching method, when master inertial navigation system is a gimbled type and slave inertial navigation system is a strapdown type on a cruising ship which is naturally in motion of horizontal axis attitude. And relative attitudes are considered on a measurement equation for quaternion matching between master INS and slave INS.