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Mathematical Problems in Engineering
Volume 2016, Article ID 5301242, 9 pages
Research Article

Parameter Identification Method for SINS Initial Alignment under Inertial Frame

High-Tech Institute of Xi’an, Xi’an, Shaanxi 710025, China

Received 20 January 2016; Revised 13 July 2016; Accepted 14 July 2016

Academic Editor: Mohamed Djemai

Copyright © 2016 Haijian Xue 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.


The performance of a strapdown inertial navigation system (SINS) largely depends on the accuracy and rapidness of the initial alignment. The conventional alignment method with parameter identification has been already applied widely, but it needs to calculate the gyroscope drifts through two-position method; then the time of initial alignment is greatly prolonged. For this issue, a novel self-alignment algorithm by parameter identification method under inertial frame for SINS is proposed in this paper. Firstly, this coarse alignment method using the gravity in the inertial frame as a reference is discussed to overcome the limit of dynamic disturbance on a rocking base and fulfill the requirement for the fine alignment. Secondly, the fine alignment method by parameter identification under inertial frame is formulated. The theoretical analysis results show that the fine alignment model is fully self-aligned with no external reference information and the gyrodrifts can be estimated in real time. The simulation results demonstrate that the proposed method can achieve rapid and highly accurate initial alignment for SINS.