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

Table 1

Instrument precision of SINS.

Gyro		Accelerometer
Zero bias	<0.03°/h	Zeros bias	±5 × 10^−5 g
Random walk coefficient	<0.005°/h	Zero bias stability	<4 × 10^−4 g
Scale factor error	<20 ppm	Scale factor error	<100 ppm