HIGH SPEED GYROCOMPASS ALIGNMENT VIA MULTIPLE KALMAN FILTER BASED HYPOTHESIS TESTING

摘要

A method of aligning a gyro-compass comprising operating at least twoKalman filters in a set of Kalman filters to generate an error correction toat least asingle navigation solution in a set of navigation solutions in order toprovide coarsealignment azimuth convergence. The method further comprises selecting at leastoneselected Kalman filter from the set of Kalman filters and at least oneselectednavigation solution from the set of navigation solutions, and operating the atleast oneselected Kalman filter and the at least one selected navigation solution toprovide finealignment convergence to a correct azimuth. The selecting is based at least inpart onthe generated error correction, each navigation solution includes an azimuthdifferentfrom the azimuth of each other navigation solution and each navigationsolutionazimuth is separated by no more than two times a small angle error assumption.