关键词：加速度计；陀螺仪；笔杆运动检测；姿态角；姿态角速率 [gap=851]Key words：accelerometer；gyroscope；pen motion measurement；attitude angle；attitude angular rate
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attitude plus angular rate matching 姿态加角速度匹配
The attitude Angle (or angular rate) data of INS were often ignored during study and application of automatic alignment technique.
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。
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.
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。
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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