Abstract
The initial alignment is vital to the inertial navigation system of a cruise vehicle. The existing initial fine alignment methods in the erection process are mostly dependent on other equipment to provide measurements, which increase the complexity and cost of the system and may cause some measurement error and noise. To solve this problem, an initial fine alignment method based on self-contained measurement is proposed and executed during the erection process with a static base. The self-contained measurement is obtained through the modelling of a multi-level dynamic lever arm. Using the self-contained measurement, the fine alignment model is derived and the precision of initial fine alignment can be improved. Finally, experiments were carried out and verified the validity of the proposed method.
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