Map matching-aided in-motion SINS initial alignment

The paper introduces a novel in-motion SINS initial alignment algorithm using the inertial frame as computing reference. First, dead reckoning method is utilized with the help of the external odometer speed information aiming to eliminate the angular and linear moving disturbances. Second, in order to suppressing the divergence of the positioning error, a new integrated Map Matching algorithm is introduced which is able to reduce the effect of misalignment angle from coarse alignment for positioning error. Road test results show that this algorithm has greatly reduced the coarse alignment of directional accuracy and saved the requirements of speed and route for land vehicles. Not only is the mobility of land vehicle enhanced but also the accuracy of initial alignment of inertial navigation system is improved, which is meaningful in real application.