为提高船用航姿系统的对准精度和对准速度，提出了摇摆条件下的两位置对准方案。
To improve the accuracy and reduce the setting time for the initial alignment of marine attitude heading reference system(AHRS) under motion, a method of two-position alignment was presented.
从实验的结果来看，这种方法能够对对准标记达到很好的边缘定位，提高了对准精度。
From the results of experimentation, the method can make the mark image edge achieve good edge localization and improve the alignment precision.
同时，针对初始对准对准精度与快速性的要求，建立了动基座传递对准精确的非线性滤波模型。
Meanwhile, an accurate nonlinear filter model for moving base alignment is built, which meets the requirements of alignment velocity and accuracy in air-to-air missiles.
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