DVL aided fine alignment for marine SINS

A fine alignment method suitable for marine strapdown inertial navigation system is proposed. In this method, Doppler velocity log is applied to give velocity reference because of its accuracy and independence. System error equation is deduced to obtain fine alignment model. And the measurement equation corresponded to Doppler velocity log is given in this paper. In order to validate this method, we carry it out under several marine conditions, including movement with constant velocity and direction, three-axis sway and acceleration. The simulation results show that the proposed method has appropriate duration and great accuracy.