Abstract
The paper focuses on improving the accuracy and shortening the time of shipborne SINS initial alignment under the ship yaw, roll and pitch. This is achieved by implementing a two-step SINS alignment algorithm. At the first step, the ship current attitude parameters are approximately autonomously estimated by data from gyros and accelerometers with account for its dynamics and using water speed log data. At the second step, the system fine alignment is performed with account for alignment errors after the completion of the first step. Speed and position measurements from external aids are additionally applied during the fine alignment. Kalman filter algorithms are used in the first and second steps. Results from bench and sea tests for SINS on navigation grade FOGs under the ship yaw, roll and pitch motion are provided.
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