A more accurate velocity plus attitude matching transfer alignment with lever-arm compensation term model

A more accurate velocity plus attitude matching transfer alignment model with a lever-arm compensation term and a delta velocity product term is treated in detail. The lever-arm compensation term is added to improve the steady state accuracy of transfer alignment, while the delta velocity product term is adopted to improve the dynamic response and the convergence speed of the transfer alignment. A 'swing moving' trajectory is used in the simulation of the algorithm, and the comparative simulation of the model shows that the model is more effective than others.