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

Table 1

The comparison of observable degree for Rotary SINS.

Time
1	1.0135	1.1031	1.0324	0.6251	13.8570	13.8636	13.7323	13.9108	2.2515	1.4198	1.4641	1.3946
2	1.1089	1.2246	1.1567	0.6785	13.8836	13.8975	13.7635	13.9438	2.4624	1.4856	1.5358	1.4298
3	1.2452	1.3244	1.2346	0.7037	13.9104	13.9044	13.8015	13.9704	2.6584	1.5203	1.5747	1.4742