Fast SINS Initial Alignment Method Based on Iterative Algorithms in Inertial Frame

Abstract

Iterative algorithms based on saved data have been researched for strapdown inertial navigation system to make the best use of sensor data, and different alignment algorithms can be carried out during the iterative process to fulfil initial alignment. This paper firstly analysed two interactive processes. The forward-backward process needs to change the normal system model in the backward process and have additional error factors. While the forward-forward process is easy to be carried out without changing the system model, the transition error will also decrease the accuracy. In addition, traditional iterative methods always need to save a large amount of data and do redundant computation, which is not highly effective, especially in view of the real-time property. To address these effects, a forward-forward solution in the inertial frame based on Kalman filter is analysed. This method calculates the attitude transfer matrix in the inertial frame to deal with angular disturbances and avoids saving all the original measurement data during the process, which makes the method more stable and faster to fulfil in the real-time system. Simulation and turntable test validates the performance of the proposed method.