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Mathematical Problems in Engineering
Volume 2013, Article ID 401794, 10 pages
Research Article

A Rapid Transfer Alignment Method for SINS Based on the Added Backward-Forward SINS Resolution and Data Fusion

1School of Instrument Science & Engineering, Southeast University, Nanjing 210096, China
2Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, Nanjing 210096, China

Received 28 January 2013; Accepted 25 June 2013

Academic Editor: Joao B. R. Do Val

Copyright © 2013 Xixiang Liu et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Two viewpoints are given: (1) initial alignment of strapdown inertial navigation system (SINS) can be fulfilled with a set of inertial sensor data; (2) estimation time for sensor errors can be shortened by repeated data fusion on the added backward-forward SINS resolution results and the external reference data. Based on the above viewpoints, aiming to estimate gyro bias in a shortened time, a rapid transfer alignment method, without any changes for Kalman filter, is introduced. In this method, inertial sensor data and reference data in one reference data update cycle are stored, and one backward and one forward SINS resolutions are executed. Meanwhile, data fusion is executed when the corresponding resolution ends. With the added backward-forward SINS resolution, in the above mentioned update cycle, the estimating operations for gyro bias are added twice, and the estimation time for it is shortened. In the ship swinging condition, with the “velocity plus yaw” matching, the effectiveness of this method is proved by the simulation.