A novel initial alignment algorithm of SINS/GPS on stationary base with attitude measurement

Based on the error model of SINS/GPS and viewed of the improving of the observability and the observability degree, a novel initial alignment algorithm of SINS/GPS on stationary base with attitude measurement is put forward, which uses both the velocity error and yaw error as the observational value of Kalman filter. The qualitative analysis of observability and the quantity calculation of observability degree as well as the simulation result show that the system's observability and the observability degree is improved, the initial alignment is speeded up, the estimating error is reduced and the estimating of gyroscope bias is improved. This method has been applied in practical SINS/GPS.