SINS initial alignment for small tilt and large azimuth misalignment angles

This paper presents the static base alignment of Strapdown Inertial Navigation System (SINS) employing simplified unscented Kalman filter (UKF) on nonlinear error model. Simplified UKF for nonlinear process and linear measurement models with complex additive noise is addressed and the error model for static alignment is derived with small tilt and large azimuth misalignments. Simulations are performed using simulated signals from inertial sensors. Simulation results show the superiority of algorithm in terms of convergence rate and alignment precision for small tilt and large azimuth misalignment angles.