Research on new two-position integrated alignment

A new two-position integrated alignment is designed using velocity as measurements.During fine alignment,the carrier is located in two different positions through changing the yaw.The Kalman filter estimates the misalignments.Using the relationships among the gyro drift estimations,the horizontal gyro drifts are computed and the high accurate alignment is completed by data procession.This method makes east gyro drift observable under static base.That also makes the yaw estimation more accurate.