Abstract
Before an inertial navigation system is used, an initialization procedure is required. The initialization procedure consists of alignment of the platform and the entry of position and velocity. A new method for the alignment of inertial navigation systems is presented in this paper. Alignment of the platform is usually accomplished by a procedure known as gyrocompassing. When gyrocompassing is employed, the inertial system is operated in a damped mode and relatively little base motion is tolerated. The well-known Kalman filter algorithm can also be used in a real time computer to align inertial navigation systems. The method discussed in this paper is in some respects similar to the Kalman filter; however, the definition of a co variance matrix is not required. Like the Kalman filter, the technique can be used to align damped and undamped inertial systems. It can be used to align inertial systems on moving or stationary vehicles. It can also be used to compute gyro drift biases in addition to platform misalignment angles. Computer simulations relating to a number of initial conditions and unmodeled error sources are discussed. It is shown that the algorithm can be used to align a system with considerable base motion.
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