In shipborne Transfer Alignment (TA) applications, partial observability is one of the most important factors limiting convergence velocity. This paper proposes a new method of attributing weak observable states and lever-arm variables to a group of constraints in order to improve the observability of TA model. This yields the so-called Constrained Transfer Alignment (CTA) model which is uniformly observable even under zero-manoeuvre conditions. Within this framework, the Moving Horizon Estimation (MHE) and its stability analysis are also addressed. Finally, comparative simulation results are given to demonstrate the advantages of the proposed approach.
