ABSTRACT
Inertial navigation system (INS) has particular advantages and is widely used for the positioning and navigation of vehicles, airplanes, ships, etc. [77]. INS can be classified into gimbaled INS (GINS) and strapdown INS (SINS). One of the key techniques for INS is initial alignment and calibration, which affects navigation accuracy directly. INS mainly includes stationary base alignment and in-flight alignment. Self-alignment schemes have been widely adopted in initial alignment for INS on a stationary base [118, 199]. The purpose of initial alignment of SINS is to determine the coordinate transformation matrix from body frame to computation frame. Then, misalignment angles can be compensated for based on their estimated values. The principle of initial alignment of SINS is similar to that of GINS, where filtering techniques are the key technologies and have been widely used in practice [6].
