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

Table 3

Statistical results for misalignment angles.

	Pitch (mrad)		Roll (mrad)		Yaw (mrad)
	Mean	Standard variance	Mean	Standard variance	Mean	Standard variance
1~10 s
Scheme  1	−0.8225	1.0610	1.1833	4.9672	−0.9375	1.2756
Scheme  2	0.4631	1.6724	0.2318	0.7429	−0.3956	1.0700
11~20 s
Scheme  1	−0.2278	0.5136	−0.0705	0.5156	−1.1170	0.7199
Scheme  2	−0.4993	0.5865	0.4806	0.2647	−0.4755	0.8203
31~40 s
Scheme  1	−0.4776	0.4653	0.9794	0.5194	0.0448	0.9782
Scheme  2	−0.6454	0.4553	0.2271	0.4726	−0.0067	0.8820
41~50 s
Scheme  1	−0.8024	0.4560	1.0111	0.5086	−0.3714	0.9385
Scheme  2	−0.8563	0.4557	0.4980	0.6148	−0.3609	0.8828
51~60 s
Scheme  1	−0.5430	0.4296	0.5377	0.4614	−0.2183	0.9682
Scheme  2	−0.7073	0.4854	0.5415	0.5531	0.2041	0.9117
61~500 s
Scheme  1	−0.5075	0.4498	0.4154	0.4852	−0.0877	0.9168
Scheme  2	−0.6541	0.4505	0.4815	0.4831	0.0709	0.9011
Limited accuracy	−0.4990		0.4990		0