Rapid initial alignment and calibration for on-board inertial navigator

To settle rapid initial alignment and calibration for on-board inertial navigator on stationary base, a two-position approach is proposed. Firstly, an alignment model with calculated velocity is addressed based on multiple experiments, after coarse alignment was implemented. Secondly, an adaptive Kalman Filter, which taking velocity errors as measurement vector, is adopted to estimate the state vector such as misalignment angles, constant drifts/biases of inertial device. Finally, six tests have been made on the single-axis turntable. The result of the test indicates that during 400s alignment, the tilt errors are declined to no more than 0.03°, and the azimuth error is declined to less than 0.7°. Furthermore, the constant drifts/biases of inertial device on horizontal axes are also estimated, which is beneficial to promote the navigation accuracy.