Sins Initial Alignment Problem

Initial alignment is one of very important techniques for designing a Strapdown Inertial Navigation System (SINS) . The initial alignment of terrestrial SINS is studied in this paper. The main work consists of four parts:1 .Based on the characteristics of terrestrial vehicle navigation system, two channels and ten states error mathematical model is presented . The error model can be used a tool of terrestrial vehicle navigation error analysis, but also can be used in its initial alignment.2.By means of Kalman filter techniques, error equation and measure equation of SINS are presented. We made the simulation on initial alignment of navigation system on stationary base in the lab.3.Using state equation decoupling method , KyaoBKOB judgement method and singular value decomposition (SVD), the observability and degree of observability during initial alignment of SINS are analyzed in detail. Unobservable state variables can be more efficiently determined via combining use of KyaoBKOB judgement method with the SVD method.4.The quaternion attitude algorithms are studied in this paper. The mathematical deduction and confirmation of the three-order Taylor expansion algorithm are introduced, which is a powerfully effective one for solving the quaternion matrix differential equation.