Moving state marine SINS initial alignment based on transformed cubature Kalman filter

In this paper, we propose an initial alignment method for marine strap-down inertial navigation system (SINS) based on transformed cubature Kalman filter (TCKF) under large heading misalignment angle condition, which can alleviate the non-local sampling problem inherent in existing initial alignment method based on cubature Kalman filter (CKF). As can be seen from our simulation results, TCKF outperforms CKF considerably in terms of accuracy and SINS alignment speed.