This paper proposes a twice rapid transfer alignment algorithm based on dual models in order to solve the problems such as long convergence time, poor accuracy, and heavy computation burden resulting from the traditional nonlinear error models. The quaternion matching method based on quaternion error model along with the extended Kalman filter (EKF) is applied to deal with the large misalignment in the first phase. Then in the second transfer alignment phase, velocity plus attitude matching method as well as classical Kalman filter is adopted. The simulation and the results of vehicle tests demonstrate that this method combines the advantages of both nonlinear and linear error models with the guarantee of accuracy and fastness.
Study on a Twice Transfer Alignment Based on Dual Model