Moving State Marine SINS Initial Alignment Based on High Degree CKF

Table 1

Parameters used for simulations.

Swing amplitude (deg)	Swing period (s)			Initial error values of pitch and roll (deg)	Initial error values of heading (deg)	White noise bias stability of gyro (deg/h)	Bias of gyro (deg/h)	White noise error of accelerometer (𝜇g)	Bias error of accelerometer (𝜇g)
	Roll	Pitch	Yaw
10	8	10	6	1	30	0.003	0.01	3.16	10