舰船在航行过程中易受风浪等外界环境干扰, 使船体存在明显的挠曲变形。而在传统的建模过程中未考虑挠曲变形对静态杆臂长度的影响, 导致建模不准确, 从而致使对准精度下降。针对这一问题建立了动态挠曲变形和动态杆臂效应一体化的误差模型, 构建了更精确的传递对准误差方程。分别在速度加姿态匹配和速度加角速度匹配两种方式下进行卡尔曼滤波, 比较了这两种匹配方式在不同运动状态下对于动态挠曲变形角和安装误差角的估计效果。仿真结果表明, 相比于速度加姿态匹配, 速度加角速度匹配对于动态挠曲变形角和安装误差角的估计误差精度均得到了明显的提高, 且平稳性更好, 在匀加速运动时优势更明显。因此在实际应用中, 当载体受外界环境干扰严重时, 应首先考虑采用速度加角速度匹配模式进行传递对准。

n the process of sailing, vessels are easily disturbed by the external environment of the storm, which results in apparent flexural deformation of hull. However, the traditional mathematical model does not include the impact of flexural deformation on the static lever arm, leading to the inaccurate establishment of error model. Aiming at this problem, an integrated error model of dynamic flexural deformation and dynamic lever arm is established, and more precise error model of transfer alignment is formed. The Kalman filter is implemented in two matching approaches respectively, velocity plus attitude matching and velocity plus angular velocity matching. Then these two matching approaches are emulated under different motion states, especially focusing on the estimation of dynamic deflection angle and installation error angle. The simulation demonstrates that, compared with velocity plus attitude matching, dynamic deflection angle and installation error angle estimated by velocity plus angular velocity matching is increasingly more accurate and steady, especially under the constant acceleration. Therefore, in practical application, when disturbed severely by external force, velocity plus angular velocity matching takes priority for transfer alignment.