Modern fifth generation air-to-air missiles require an accurate low cost navigation solution. To this end a rapid transfer alignment algorithm was developed that accurately initializes the missile navigation system before launch and calibrates inertial sensor biases. As part of the missile air-to-air mission no special maneuvers during carriage flight are allowed, mandating a transfer alignment algorithm that requires no special maneuvers to estimate misalignment angles and calibrate the low cost SiIMU02~® MEMS (micro-electromechanical sensors) IMU (Inertial Measurement Unit). Transfer alignment accuracy was tested using computer simulations, land vehicle trials and aircraft flight trials. The design is based upon a master/slave position, velocity, attitude and body rate matching alignment implemented by a 24-state, 12-measurement Kalman filter with filter update rates varying from 7.5 Hz to 60 Hz.
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