Rapid and accurate alignment method for SINS on stationary base aided by double-antenna GPS

Low-cost strapdown inertial navigation system (SINS) cannot implement high-precision alignment by itself on stationary base, meanwhile, devices errors are hard to be estimated. Focusing on above, double-antenna GPS/SINS integrated initial alignment Kalman filter is established. On conditions of pitch/yaw and roll/yaw (double-antenna GPS output), observability of system and devices errors are quantitatively analyzed by comparing the singular values of the observability matrix to confirm the estimation effect. Finally, the conclusions are verified on actual vehicle-based system. The results show that low-cost SINS can estimate the system and devices errors, not only reduced alignment time to less than 100s, but also improved alignment accuracy to better than 0.1°. The method holds significant application value in practical engineering.