The study on transfer alignment for SINS on dynamic base

For the strapdown inertial navigation system (SINS) used in the autonomous underwater vehicle, between the main system and the slave system, there are not only constant mechanical misalignment, but also the uncertain angle because of the body dynamic bending during the initial transfer alignment before releasing. The paper modeled the bending of the body with second-order Markov process and studied the approach of transfer alignment via angle velocity aiding. The simulation shows that the bending model is effective and the transfer alignment via angle velocity can provide fairly precise attitude for the underwater vehicle.