A Method for SINS Alignment with Large Initial Misalignment Angles Based on Kalman Filter with Parameters Resetting

<table class="table-group" width="800px"><tr class="fig-image" id="a"><td><img alt="346291.fig.003a" src="https://static.hindawi.com/articles/mpe/volume-2014/346291/figures/346291.fig.003a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b>Yaw in Condition 1</td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="346291.fig.003b" src="https://static.hindawi.com/articles/mpe/volume-2014/346291/figures/346291.fig.003b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b>Yaw in Condition 5</td></tr></table></td></tr></table>

<table>Comparison of state covariance.</table>

Mathematical Problems in Engineering

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Figure 3

Figure 3: A Method for SINS Alignment with Large Initial Misalignment Angles Based on Kalman Filter with Parameters Resetting 