Cubature Kalman filter in initial alignment of large heading error in SINS

Initial alignment is a key step in strapdown inertial navigation systems. In order to improve the accuracy of the navigation system with a large heading error, nonlinear error model is adopted and the cubature Kalman filter is applied to solve the filtering problem. We focus on the stationary basement, simulation results show good performance in case of nonlinear filtering problems and it is more efficient than EKF.