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

Table 1

Equivalent sensor errors in navigation frame.

Yaw (°)	0	45	90	135	180
Accelerometer (ug)
Eastern	500	0	−500	−707.1068	−500
Northern	500	707.1068	500	0	−500
Upper	500	500	500	500	500
Gyroscope (°/h)
Eastern	0.05	0	−0.05	−0.0707	−0.05
Northern	0.05	0.0707	0.05	0	−0.05
Upper	0.05	0.05	0.05	0.05	0.05