A SINS Multi-Azimuth Alignment Method without Initial Location Parameters

摘要

A SINS multi-azimuth alignment method in stationary cases without initial location parameters is proposed whereby the exact latitude is effectively estimated and the longitude is meaningless. First, the rough initial attitudes and latitude are estimated by the analytic coarse alignment. Second, a 13-state Kalman filter model is successfully employed for the subsequent fine alignment. The Piece-Wise-Constant-System (PWCS) method is then utilized, respectively at the analytical and numerical viewpoints, to prove the complete observability of multi-azimuth alignment without initial location parameters.