Initial Self-Alignment for Marine Rotary SINS Using Novel Adaptive Kalman Filter

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/mpe/volume-2015/320536/figures/320536.fig.001a.svgz" name="320536.fig.001a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Estimation of attitude errors</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/mpe/volume-2015/320536/figures/320536.fig.001b.svgz" name="320536.fig.001b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Estimation of velocity error</td></tr><tr class="fig-image" id="c"><td><object data="https://static.hindawi.com/articles/mpe/volume-2015/320536/figures/320536.fig.001c.svgz" name="320536.fig.001c" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(c) </b>Estimation of gyro drifts</td></tr><tr class="fig-image" id="d"><td><object data="https://static.hindawi.com/articles/mpe/volume-2015/320536/figures/320536.fig.001d.svgz" name="320536.fig.001d" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(d) </b>Estimation of accelerometer biases</td></tr></table>

<div>The simulation results of NAKF.</div>

Mathematical Problems in Engineering

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Figure 1

Figure 1: Initial Self-Alignment for Marine Rotary SINS Using Novel Adaptive Kalman Filter 