An Improved Initial Alignment Method using Kalman Filtering of the Vectorized K-matrix

This paper proposes an in-motion coarse alignment based on the Kalman filter and truncated vectorized K-matrix for strapdown inertial navigation system. Because of the measurement noises, the traditional coarse alignment methods have slow rate of convergence. To solve this problem, a novel coarse alignment algorithm is used to calculate the attitude quaternion. This algorithm overcomes the shortco...