Initial Alignment Technique for SINS of Vehicles in the Moving State

An initial alignment technique for the strapdown inertial navigation system (SINS) of vehicles in the moving state is researched. By selecting an odometer as the system's external sensor, the mathematical model for the alignment in the moving state is established and the observability of the system is analyzed. The results show that the SINS can successfully achieve the precision alignment in 10 min when the vehicle is moving toward the prearranged place after its staying for several seconds to perform the coarse alignment. The precision of alignment can also be improved in the moving state compared with that in the static state.