Error Compensation of Initial Heading in Boat-Used SINS

There are three flaws in the marine integrated navigation system, which includes the low precision of dynamic alignment of SINS, the large error of initial heading and the big differences at different times. In this paper, a new compensating method for the initial heading error by use of dead reckoning error is proposed. Based on the errors between the reckoned position and the real position of the two position-known points, the initial heading error can be reckoned. At the same time, the cumulative errors can be eliminated and the precision of navigation can be improved. Finally, the effectiveness of the method is tested by lake-experiment.