Research on INS Alignment with Disturbing Motion Base

The system's S/N ratio is very low when Inertial Navigation System carries through alignment process on a dynamic base,so the convergence time of alignment process is long.In order to improve the alignment accuracy and reduce the alignment time,a new approach based on position observation and parameter estimation was brought forward by means of Markov recursive filter.The wander azimuth INS platform realizes the adjustment of level axis,the confirmation of heading direction and the detection of gyro drift through open-loop coarse alignment and Schuler tuned-loop fine alignment.The vehicle-borne test results show that the high-precision alignment and the reduced alignment time are obtained by means of the method.