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Attitude plus angular rate rapid transfer alignment

Transfer alignment is applied for the alignment of strapdown inertial navigation system (SINS) on moving base conventionally, and ‘velocity’ is often utilized as the observation message of the transfer alignment filter, but the leaver arm error will induced simultaneously, which can't be compensated accurately. An improved rapid transfer alignment algorithm called ‘attitude plus angular rate’ matching is presented in this paper, which is based on the rapid transfer alignment model introduced by the American scientist Kain, while the ‘velocity’ measurement is replaced by ‘angular rate’, avoid the compensation of the leaver arm error. The widely used Kalman filter has been chosen to estimate the misalignment of the SINS. A simulation system has been investigated to test the ‘attitude plus angular rate’ matching transfer alignment algorithm, compared with the ‘velocity plus attitude’ matching algorithm, results show that the method presented here can achieve the accuracy better than 1 mrad in 10 second, without leaver arm error compensation.