Abstract:
In this paper a general non-linear psi-angle approach that dose not requires coarse
alignment is presented. In the psi-angle model, the azimuth misalignment angle is assumed
large. The attitude and velocity error models are also presented for strap down inertial
navigation system (SDINS). Three different KALMAN filter algorithms are utilized based on
the SDINS nonlinear error model are used to solve the non-linear data fusion problem. The
proposed works are validated with a set of experimental results of stationary alignment and
in-flight alignment using kinematics trajectory data to estimate all the parameters of inertial
navigation system needed for the alignment and calibration.