INS initial alignment based on L₂ robust control theory

A new method of INS initial alignment based on L₂ robust control theory was proposed. Based on robust optimal control theory, by configuring auxiliary feedback control variable, the dynamic performance of the system was improved, also the alignment time was shortened. The simulated result shows that compared with that of traditional Kalman filter, the level misalignment angle can be estimated with the same accuracy, while the estimated accuracy of the azimuth misalignment angle is greatly improved by one order of magnitude, the alignment time is shortened from more than 100 s to equal or less than 10 s.