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Research on Swaying Base Initial Alignment of Strapdown Inertial Navigation System

In the initial alignment process, if there is a disturbance of rocking and swaying, the angular velocity and acceleration output from the gyroscope and accelerometer can not effectively reflect the reality, and the precise initial attitude matrix can not be obtained. In this paper, the sloshing error is weakened by the acceleration of gravity, and the effectiveness of the algorithm based on the acceleration of gravity is verified by comparing the alignment tests. It has certain engineering value in the swaying base.