根据极地轨道地磁场变化的特性，利用卫星的姿态角和姿态角速率作为反馈信号，提出了一种采用磁力矩器的比例微分(PD)控制规律设计方法。

Taking into account properties of the geomagnetic field, a new PD magnetic control law using the feedback information of attitude Angle and attitude rate is developed.

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在以往的自对准技术研究与应用中，惯导系统的姿态角(或角速率)信息往往是被忽略不用的。

The attitude Angle (or angular rate) data of INS were often ignored during study and application of automatic alignment technique.

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因此，同时利用角速率及角增量信号，优化设计出一类新的旋转矢量姿态算法，给出了算法的圆锥误差表达式，并进行了仿真分析。

In this paper, the improved attitude algorithms are developed using both angular rate and incremental angular signals, and the coning errors of the algorithms are given.

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