The optimal coarse alignment method is introduced to solve the problem of coarse alignment for SINS on swing base. According to the relationship between three dimension vector and round quaternion, the solvability of optimal attitude matrix based on the Wahba problem is bolied down to figure out the maximum of typical trigonometric function. Basic principle of the Wahba problem is put in a nutshell. The relationship between Wahba problem and optimal quaternions estimation method (OQEM) and the multicollinearitie of OQEM is discussed. Coarse alignment method of SINS based on OQEM is analysed and compared with TRIAD algorithm and optimal TRIAD algorithm. The montecarlo simulations results with 500 sample show that the azimuth precision of coarse alignment based on OQEM is well above that of coarse alignment base on TRIAD algorithms and optimal TRIAD algorithm. The azimuth range in amplitude is reached angle minute grading. On the basis of this, the precision alignment can be easy to achieve.
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徐景硕,王勇军,唐波.基于最优四元数估计的摇摆基座粗对准技术[J].压电与声光,2016,38(5):756-759. XU Jingshuo, WANG Yongjun, TANG Bo. Coarse Alignment Technology Based on OQEM for SINS on Moving Base[J]. PIEZOELECTRICS AND ACOUSTOOPTICS