The river trials for the velocity matching and velocity plus attitude matching transfer alignments

A series of river trials are carried out to verify the feasibility of the velocity matching method and the velocity plus attitude matching method. First of all, a hardware-in-the-loop simulation system is designed in this paper. Secondly, the kalman filter models for velocity matching and velocity plus attitude matching are introduced. Four types of river trials are done, respectively, velocity matching under the mooring condition, velocity matching under the uniform direct motion condition, velocity plus attitude matching under the uniform direct motion condition, velocity matching and velocity plus attitude matching under the 360-deg turn condition. Finally, the results of river trials are given. These results show that velocity matching and velocity plus attitude matching are practicable. Both of them are satisfy for transfer alignment accuracy requirements.