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Mathematical Problems in Engineering
Volume 2013, Article ID 524284, 12 pages
Research Article

A Fast and High-Accuracy Compass Alignment Method to SINS with Azimuth Axis Rotation

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

Received 30 September 2012; Accepted 10 January 2013

Academic Editor: Gerhard-Wilhelm Weber

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.


Azimuth axis rotating modulation was introduced to improve the alignment accuracy of strapdown inertial navigation system (SINS) through compass algorithm, in which the limit accuracy was determined by equivalent sensor errors in the eastern and northern direction. In this modulation, horizontal sensor errors were modulated into zero mean periodic variables. Furthermore, two methods were introduced to ensure alignment accuracy and speed: (1) shortened rotating cycle and redesigned compass parameters were selected to eliminate or ease the amplification to low-frequency senor error inputs in compass loop caused by rotation and (2) a data repeated calculation method was designed to shorten prolonged alignment time caused by the above redesigned parameters. Based on a certain SINS, turntable test proves that alignment accuracy and time were significantly improved and slightly shortened in comparison with the classical compass alignment.