The automatic docking process of connector and rocket valve is studied, and a bias measurement system based on dynamic azimuth detection alignment technique is proposed. The deviation value of the connector with the fill valve is obtained and defined as the initial value. The image of the cooperative target is obtained by the optical camera. The camera pose in the two-dimensional plane is quickly extracted by identifying the direction of the target image and the marker size; and the laser sensors are used to accurately obtain the distance information between the target and the camera. The deviation value between the connector and the fill valve can be obtained in real time through this measurement system. It is applied to the automatic docking system, and the results show that the method meets the technical requirements of the automatic docking displacement accuracy 1 mm of the rocket.

Under high dynamic circumstances, the size effect error caused by inner lever arm is an important error source of high accuracy strap-down inertial navigation system (SINS). The mechanism of size effect error is analyzed theoretically. The dynamic error model of inner lever arm is derived, and the calibration model is derived based on inner lever arm model and system error model. By using the velocity compensated with outer lever arm error as the observation, an inner lever arm calibration method based on Kalman filter is established. The experiment results show that the repeatability of inner lever arm parameter is better than 2 mm. In the rapid rotation test, the speed error is reduced by 90% with inner lever arm parameters compensation, and the navigation accuracy in the swing test is improvedsignificantly.