In order to accomplish coarse alignment on a swaying base, the integrations of the gravity vector in the inertial coordinate of two different periods of time are selected as the reference vectors.
根据定姿算法中参考矢量构造方式的区别将解析粗对准算法分为传统算法和摇摆基座算法。
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The paper proposes a new alignment scheme, in which the gravity message is used in the coarse alignment procedure, and an adaptive Kalman filter is used in the fine alignment procedure.