Backtracking Integration for Fast Attitude Determination-Based Initial Alignment

By incorporating the backward navigation concept into the newly developed attitude determination-based initial alignment (ADIA) method, a fast initial alignment method is proposed. The contribution of the proposed method lies in the development of a backtracking integration procedure for the ADIA vector observations construction. With the special integration procedure for the vector observations construction, the acceleration information provided by the inertial measurement unit and aided global positioning system can be used more adequately with the proposed method, therefore resulting in a much improved performance. Field experiments demonstrate the validity of the proposed method.