Initial Alignment for a Doppler Velocity Log-Aided Strapdown Inertial Navigation System With Limited Information

This paper proposes an ingenious alignment scheme for a Doppler velocity log-aided strapdown inertial navigation system with only the initial velocity and position information. The proposed scheme decomposes the task into two tightly coupled subproblems. First, an optimization-based coarse alignment (OBCA) method is developed to derive the constant attitude at the very start of the alignment. Duri...