A Method for Improving Precision Alignment Accuracy of Strapdown Inertial Navigation

This paper proposes an algorithm to improve the odometer-assisted SINS positioning accuracy. In the rough alignment stage, the inertial solidification idea is used to establish a multi-vector rough alignment model; in the fine alignment stage, the Kalman filter is finely aligned using the attitude angle and position obtained by the rough alignment, and the odometer is innovatively aligned. The measured truncation error is introduced into the state quantity as a random constant. Kalman filter compensation system. The results of the sports car test show that this paper improves the alignment accuracy of the heading angle by about 3.7′ by compensating for the odometer measurement error.