Velocity plus partial rate matching rapid transfer alignment

The initial alignment of strapdown inertial navigation system (SINS) for ship borne equipment is always on moving base, and the message from master inertial navigation system on the ship will be utilized, which is called transfer alignment. Velocity plus attitude and velocity plus rate rapid transfer alignments are presented for improving the rapidness of the transfer alignment, but the accuracy is poor when the flexure of the ship is urge under worse environment, aim at this problem, a new rapid transfer alignment prototype named “velocity plus partial rate” matching is presented, subtract the pitch rate of the ship, which is disturbed by flexure rate seriously, from the conventional rate measurement message. Sufficiently utilize the sway maneuver and avoid the influence of the flexure, can obtain higher precision and less computation cost than the “velocity plus rate” matching rapid transfer alignment, while the flexure of a certain axis is severity, simulation results show that the presented method can obtain higher accuracy than the “velocity plus rate” rapid transfer alignment under worse environment.