Performance Analysis of Self-Alignment in the Temperature Stabilizing State of Inertial Navigation System

Abstract

It is called self-alignment or initial alignment that INS(Inertial Navigation System) is aligned using the measurements from the inertial sensors as an accelerometer and a gyroscope and the inserted reference navigation information in the stop state. The main purpose of self-alignment is to obtain the initial attitude of INS. The accuracy of self-alignment is determined by the performance grade of the used inertial sensors, especially horizontal attitude accuracy by the horizontal accelerometer and vertical attitude accuracy by the E-axis gyroscope. Therefore the uncertain errors in the inertial sensors cause the performance of self-alignment to degrade. In this paper, we analyze theoretically and through a simulation how the errors of inertial sensors in the temperature stabilizing state, one of the uncertain errors, affect the accuracy of self-alignment.