An Initial Alignment Algorithm Based on RSKF Single-Axis Rotational Inertial Navigation System

The problem of poor initial alignment anti-interference ability of the vehicle-mounted single-axis rotating inertial navigation system in complex environments leading to poor navigation accuracy. In this article, we combine the reverse navigation with the improved Sega-Husa filtering algorithm and propose an initial alignment method based on reverse navigation Sega-Husa Kalman filtering (RSKF). First, coarse alignment is performed, and key data are stored at the same time. After coarse alignment, the initial posture of coarse alignment and stored data are used for adaptive filtering alignment based on forward and reverse navigation. This method can fully mine and use the data. The experimental results show that compared with traditional algorithms, the method significantly augments the accuracy of alignment, thereby elevating the navigation precision of the vehicle’s single-axis rotational inertial guidance system.