Autonomous Initial Alignment of Strapdown Inertial Navigation Systems with Calibration of Sensors

For strapdown inertial navigation systems (SINS) used on unmanned aerial vehicles with cruise flight, a method of initial alignment with preliminary calibration of angular velocity sensors and accelerometers is proposed. Preliminary calibration is performed by rotating the sensor structure around the horizontal and vertical axes. A rotary device is used for this. A comparison is made and the advantage of the proposed method over the two-vector calibration method is shown.