一种星敏感器与捷联惯导高精度安装误差标定方法

针对高精度标校星敏感器和捷联惯导之间安装误差问题，捷联惯导和星敏感器均能输出相对惯性空间四元数的特点，提出了一种基于误差四元数与角速度测量值的算法，建立星敏感器和捷联惯导的安装误差模型和系统观测模型．采用“粗校准＋精校准”的两次估计滤波方法，最终达到提高姿态确定精度的目的。仿真结果证明了该方法的有效性和可行性。

A high accuracy calibration method of the installation error between SINS and star sensor

Aiming at the high accuracy calibration method of the installation error between SINS and star sensor, using the characteristic that SINS and star sensor both can export quaternion of the inertial space, an arithmetic based on error quaternion and angle speed measure was brought forward. The installation error model and system observer model of SINS and star sensor were established. The purpose of improving the pose accuracy is achieved by using the twice filtering arithmetic of coarse alignment added refin...