Study on Attitude Algorithm for Initial Alignment of SINS on Dynamic base

In this paper, an improved attitude algorithm of SINS´s alignment is presented due to the disturbances of the ships under wind and wave. The author proposes the attitude algorithm module of alignment on dynamic base and analyzes sufficiently the function of the algorithm. The scheme experiences a series of tests on three-axis turning table on validity of the simulation results. In sequence sea test was carried out in Yellow Sea. According to the experiment data, attitude error curves in alignment are also clearly given using quaternion algorithms. The test results show that this presented algorithm can realize fast alignment and high precision in SINS self-alignment