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

Table 4

Statistical results for gyro bias.

	Pitch (mrad)		Roll (mrad)		Yaw (mrad)
	Mean	Standard variance	Mean	Standard variance	Mean	Standard variance
51∼100 s
Scheme  1	−0.4139	0.4563	−0.7990	0.9143	0.7591	0.4807
Scheme  2	0.5172	0.0757	0.5335	0.1329	0.6390	0.1588
101∼150 s
Scheme  1	0.3474	0.2102	−0.3793	0.4709	1.9998	0.3182
Scheme  2	0.5037	0.0505	0.4847	0.0499	0.6072	0.0628
151∼200 s
Scheme  1	0.5742	0.0632	0.2499	0.1254	0.8496	0.2778
Scheme  2	0.4943	0.0382	0.4703	0.0284	0.5196	0.0256
201∼250 s
Scheme  1	0.4790	0.0283	0.2713	0.0744	0.5335	0.0648
Scheme  2	0.4961	0.0224	0.4718	0.0231	0.5255	0.0224
251∼300 s
Scheme  1	0.5189	0.0344	0.4203	0.0630	0.5292	0.0530
Scheme  2	0.5019	0.0217	0.4752	0.0258	0.5113	0.0236
301∼500 s
Scheme  1	0.5156	0.0272	0.4122	0.0410	0.5683	0.0412
Scheme  2	0.4990	0.0116	0.4823	0.0169	0.5134	0.0129
Setting value	0.5		0.5		0.5