In-Motion Iterative Fine Alignment Algorithm for On-Board Vehicular Odometer-Aided SINS

Table 1

The motions of the vehicle.

Phase	Motion	Start time (s)	Period (s)	Angular acceleration (°/s)	Acceleration (m/s^2)	Initial speed (m/s)
1	Station keeping	0	10	0	0	0
2	Uniform acceleration motion	10	10	0	2	0
3	Uniform motion	20	30	0	0	20
4	Turn left	50	20	−3	0	20
5	Uniform motion	70	100	0	0	20
6	Turn right	170	10	4	0	20
7	Uniform motion	180	90	0	0	20
8	Turn left	270	30	−0.5	0	20
9	Turn right	300	300	0.09	0	20