Research Article
Moving State Marine SINS Initial Alignment Based on High Degree CKF
Table 4
Absolute value of steady state estimation error of misalignment angles when the ship accelerates 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) | 0.64 | 0.33 | 0.25 | 0.09 |
| Absolute value of steady state estimation error of pitching misalignment (arc mins) | 0.63 | 0.4 | 0.35 | 0.15 |
| Absolute value of steady state estimation error of heading misalignment (arc mins) | 14 | 4.0 | 3.0 | 2.2 |
|
|