A novel in-motion initial alignment method by integration of digital map and ring laser gyroscope SINS

Traditional in-motion initial alignment method for SINS based on inertial frame requires a relatively high precision in positioning during the alignment period, which put a strict limit on coarse alignment as well as the route and alignment time. Digital map was introduced into the in-motion alignment and a novel working mode was designed. With the aid of map-match algorithm, the initial positioning accuracy is greatly improved in any speed or route, which reduces the affect of misalignment angle from coarse alignment on positioning. Road tests results have shown that the integration of digital map and ring laser gyroscope SINS has eliminate the requirements of speed and route for land vehicles. It not only enhances the mobility of land vehicle but also improves the accuracy of initial alignment of inertial navigation system, and is meaningful in real application.