A fast initial alignment method of inertial navigation system on stationary base

Because of the poor observability of an inertial navigation system on a stationary base, the estimation error of the azimuth will converge very slowly in initial alignment by means of Kalman filtering, and makes the time initial alignment longer. In the paper, a fast estimation method of the azimuth error is proposed for the initial alignment of INS on a stationary base. On the basis of the the fast convergence of the leveling error, the azimuth error can be directly calculated. By means of this fast initial alignment method, the time of initial alignment is reduced greatly. The computer simulation results illustrate the efficiency of the method.