Moving State Marine SINS Initial Alignment Based on High Degree CKF

Table 2

Absolute value of steady state estimation error of misalignment angles when the ship is on the mooring with heading misalignment angle of 30°.

Initial alignment methods	3rd-CKF	UKF	CDKF	5th-CKF
Absolute value of steady state estimation error of rolling misalignment (arc mins)	0.75	0.45	0.36	0.15
Absolute value of steady state estimation error of pitching misalignment (arc mins)	0.58	0.37	0.32	0.16
Absolute value of steady state estimation error of heading misalignment (arc mins)	16	5	3.5	2.45