Initial alignment of shoulder-launched miniature munitions

In the Strapdown Inertial Navigation System (SINS), the initial alignment accuracy directly affects the navigation accuracy. In this paper, the initial alignment of the moving base of the human body in the irregular motion state of the shoulder-launched miniature munition is studied. By establishing the mathematical model of the initial alignment process and the error model of the SINS, the Kalman filter is used to estimate and solve the platform error angle according to the initial pose matrix provided by the alignment. The results show that the Kalman filter algorithm effectively improves the initial alignment accuracy of miniature munitions.