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Mathematical Problems in Engineering
Volume 2014, Article ID 373575, 18 pages
Research Article

Error Analysis and Compensation of Gyrocompass Alignment for SINS on Moving Base

1Harbin Engineering University, 145 Nantong Road, Harbin 150001, China
2Beijing Aerospace Automatic Control Institute, No. 50 Yongding Road, Haidian District, Beijing 100039, China
3National Key Laboratory of Science and Technology on Aerospace Intelligence Control, Beijing 100854, China

Received 29 January 2014; Accepted 24 May 2014; Published 25 June 2014

Academic Editor: Bin Jiang

Copyright © 2014 Bo Xu 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.


An improved method of gyrocompass alignment for strap-down inertial navigation system (SINS) on moving base assisted with Doppler velocity log (DVL) is proposed in this paper. After analyzing the classical gyrocompass alignment principle on static base, implementation of compass alignment on moving base is given in detail. Furthermore, based on analysis of velocity error, latitude error, and acceleration error on moving base, two improvements are introduced to ensure alignment accuracy and speed: (1) the system parameters are redesigned to decrease the acceleration interference and (2) a data repeated calculation algorithm is used in order to shorten the prolonged alignment time caused by changes in parameters. Simulation and test results indicate that the improved method can realize the alignment on moving base quickly and effectively.