Moving State Marine SINS Initial Alignment Based on High Degree CKF
Table 3
Absolute value of steady state estimation error of misalignment angles when the ship sails with constant speed m/s and m/s and 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)
0.78
0.47
0.4
0.16
Absolute value of steady state estimation error of pitching misalignment (arc mins)
0.6
0.4
0.34
0.18
Absolute value of steady state estimation error of heading misalignment (arc mins)