Validation of a new self-alignment algorithm on a rocking base

The output signals of gyros and accelerometers on a rocking base are disturbed by the rocking, so it is difficult to implement initial alignment. To address the problem, a new coarse alignment and accurate alignment algorithm is proposed in early research. But those algorithms are just evaluated by simulations. In this paper, several groups of experiments are designed to validate the algorithms in a real rocking environment. The experiment results show that the alignment algorithms can efficiently fulfill the initial alignment on the rocking base.