The Initial Alignment Method for low-cost Strapdown Inertial Navigation System Based on Kalman Filter

In view of the problem that the sensor accuracy of low-cost SINS is very low and the system is difficult to achieve autonomous initial alignment, a initial alignment method for low-cost SINS based on Kalman filter was presented. Firstly, accomplish the system coarse alignment by the aid of electronic compass; on this basis, adopt modern Kalman filter technology to establish accurate error models, and estimate the platform error angle by the statistical property of the system noise and measurement noise. The simulation results shows that the initial alignment method could provide precise initial condition for the low-cost SINS with short solving time, high precision and rapid convergence, and has strong value for practical applications.