Adaptive Corrective Alignment for a Carouseling Strapdown INS

A corrective alignment technique is developed for a carouseling strapdown INS. The implementation corrects the body to geographic coordinate frame transformation for angular disturbances. The carousel induced modulation enables a Kalman filter to optimally separate IMU attitude from the instrument error sources. A NLE of the angular disturbance spectral density is made in order that optimal weighting can be applied to the angular velocity observation process relative to the corrective alignment plant process.