Aiming at the challenge of the extensive initial alignment time required for small ship strapdown inertial navigation system (SINS) under swaying base on the sea, an alignment method aided by electro-optical detection system (EODS) is proposed. By employing the EODS to track a target on the shore with a known position, the relative distance and orientation to the ship are obtained as auxiliary information. A direct relation between the SINS misalignment angle and the error in target position estimation has been established. This method theoretically ensures a high observability degree for yaw misalignment. Simulation and semi-physical simulation indicate that the proposed method does not rely on an accurate initial attitude and is capable of rapid correction of a 5∘ yaw error. The use of two or more sets of EODSs and targets can further eliminate the necessity for precise positioning information. In semi-physical simulation, the yaw angle converges within 100 s, with the alignment accuracy reaching the upper limit determined by inertial measurement unit (IMU) precision. This method has potential engineering utility for scenarios such as rapid initialization of SINS on unmanned surface vehicles (USVs) in nearshore mooring conditions.
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