On reverse navigation algorithm and its application to SINS gyro-compass in-movement alignment

Reverse navigation algorithms are deduced in detailed based on the classical strapdown inertial navigation system (SINS) updating algorithms. The scheme of SINS gyro-compass in-movement alignment is proposed and is divided into three steps, including level alignment with header uncertainty, coarse header alignment and gyro-compass alignment for header. On the assumption of navigation computer having large memory and powerful computing ability, the connection between in-movement alignment and vehicle position determining is established by reverse navigation algorithm. After the process of SINS gyro-compass in-movement alignment and saving sensorpsilas sample data to computer memory, reverse and normal dead reckoning algorithms are executed in succession to accomplish vehicle position updating. Finally, some vehicular tests prove that the proposed alignment algorithm in this paper is effective. In move base, the header alignment accuracy reaches 0.112deg(1sigma) and the position determining accuracy is about 0.1% by distance.