间接粗对准实际上是在解析粗对准的基础上进行的改进,增强了一下抗角晃动的能力。相对于解析粗对准直接求解姿态阵,间接粗对准将姿态阵进行链式分解,如下:
C
b
n
=
C
n
0
n
C
b
0
n
0
C
b
b
0
C_b^n = C_{n_0}^n C_{b_0}^{n_0} C_b^{b_0}
Cbn=Cn0nCb0n0Cbb0
其中 n 0 n_0 n0和 b 0 b_0 b0系分别是与 n n n和 b b b系在 t 0 t_0 t0时刻重合的惯性系。这样 C n 0 n C_{n_0}^n Cn0n和 C b b 0 C_b^{b_0} Cbb0就比较好确定,所以粗对准的工作就是确定 C b 0 n 0 C_{b_0}^{n_0} Cb0n0。而且因为 C b 0 n 0 C_{b_0}^{n_0} Cb0n0是两个惯性系之间的姿态阵,不存在晃动的问题,所以增加了抗干扰能力。
接下来就是建立两个惯性系之间的对应矢量关系:
G
1
n
0
=
C
b
0
n
0
F
~
1
b
0
G
2
n
0
=
C
b
0
n
0
F
~
2
b
0
G_1^{n_0} = C_{b_0}^{n_0} \tilde F_1^{b_0}\\ G_2^{n_0} = C_{b_0}^{n_0} \tilde F_2^{b_0}\\
G1n0=Cb0n0F~1b0G2n0=Cb0n0F~2b0
其中:
F
~
1
b
0
=
∫
0
t
1
C
b
b
0
f
~
s
f
b
d
t
F
~
2
b
0
=
∫
t
1
t
2
C
b
b
0
f
~
s
f
b
d
t
G
1
n
0
=
−
∫
0
t
1
g
n
0
d
t
G
2
n
0
=
−
∫
t
1
t
2
g
n
0
d
t
\tilde F_1^{b_0}= \int _0^{t_1} C_b^{b_0} \tilde f_{sf}^b dt\\ \tilde F_2^{b_0}= \int _{t_1}^{t_2} C_b^{b_0} \tilde f_{sf}^b dt\\ G_1^{n_0}= -\int _0^{t_1} g^{n_0} dt\\ G_2^{n_0}= -\int _{t_1}^{t_2} g^{n_0} dt\\
F~1b0=∫0t1Cbb0f~sfbdtF~2b0=∫t1t2Cbb0f~sfbdtG1n0=−∫0t1gn0dtG2n0=−∫t1t2gn0dt
可得:
C
^
b
0
n
0
=
[
G
1
n
0
∣
G
1
n
0
∣
G
1
n
0
×
G
2
n
0
∣
G
1
n
0
×
G
2
n
0
∣
G
1
n
0
×
G
2
n
0
×
G
1
n
0
∣
G
1
n
0
×
G
2
n
0
×
G
1
n
0
∣
]
[
(
F
~
1
b
0
∣
F
~
1
b
0
∣
)
T
(
F
~
1
b
0
×
F
~
2
b
0
∣
F
~
1
b
0
×
F
~
2
b
0
∣
)
T
(
F
~
1
b
0
×
F
~
2
b
0
×
F
~
1
b
0
∣
F
~
1
b
0
×
F
~
2
b
0
×
F
~
1
b
0
∣
)
T
]
\hat C_{b_0}^{n_0} = \begin{bmatrix} \frac{G_1^{n_0}}{|G_1^{n_0}|} & \frac{G_1^{n_0} \times G_2^{n_0}}{|G_1^{n_0} \times G_2^{n_0}|} & \frac{G_1^{n_0} \times G_2^{n_0} \times G_1^{n_0}}{|G_1^{n_0} \times G_2^{n_0} \times G_1^{n_0}|} \end{bmatrix} \begin{bmatrix} (\frac{\tilde F_1^{b_0} }{|\tilde F_1^{b_0}|})^T\\ \\ (\frac{\tilde F_1^{b_0} \times \tilde F_2^{b_0}}{|\tilde F_1^{b_0} \times \tilde F_2^{b_0}|})^T\\ \\ (\frac{\tilde F_1^{b_0} \times \tilde F_2^{b_0} \times \tilde F_1^{b_0}}{|\tilde F_1^{b_0} \times \tilde F_2^{b_0} \times \tilde F_1^{b_0}|})^T\\ \end{bmatrix}
C^b0n0=[∣G1n0∣G1n0∣G1n0×G2n0∣G1n0×G2n0∣G1n0×G2n0×G1n0∣G1n0×G2n0×G1n0]⎣⎢⎢⎢⎢⎢⎢⎢⎢⎡(∣F~1b0∣F~1b0)T(∣F~1b0×F~2b0∣F~1b0×F~2b0)T(∣F~1b0×F~2b0×F~1b0∣F~1b0×F~2b0×F~1b0)T⎦⎥⎥⎥⎥⎥⎥⎥⎥⎤
最后:
C
^
b
n
=
C
n
0
n
C
^
b
0
n
0
C
b
b
0
\hat C_b^n = C_{n_0}^n \hat C_{b_0}^{n_0} C_b^{b_0}
C^bn=Cn0nC^b0n0Cbb0