The problem is that it is commonly unable for inertia platform to output attitude angular velocity of moving carrier.

但一般情况下惯导平台无法输出运动载体的姿态角速度。

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The state space models of the velocity matching, the attitude matching, the angular rate matching and the specific force matching transfer alignment are made.

分别推导了速度匹配、姿态匹配、角速度匹配和比力匹配传递对准的状态空间模型；

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A filter design for rendezvous and docking with non-cooperative target was also given which can provide estimation information of relative position, velocity, attitude Angle and angular rate.

设计了针对空间非合作目标对接段的滤波器，能够提供对接段相对位置、速度、姿态角及角速率估计信息。

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