Rapid alignment method of INS with large initial azimuth uncertainty under complex dynamic disturbances

For the rapid alignment of the ship-borne weapon INS with large initial azimuth attitude error under complex environment disturbances, a nonlinear error propagation model augmented by sensor errors and disturbance sources was proposed. Velocity plus angular rate matching method was applied in the implementation of the alignment. Simulation results show that comparing with the conventional solutions, this method can accomplish the transfer alignment of a mooring ship's weapon INS with large heading error rapidly and accurately. Meanwhile, it has strong adaptability to the sea condition and can improve the precision of the alignment under complex environment disturbances.