Linear optimized self-alignment for SINS using Rodrigues parameters

A method for fast initial alignment of SINS using Rodrigues parameters was proposed for land vehicles under complex disturbances. Through attitude matrix decomposition and Cayley transform, the alignment is transformed into an unconstraint linear optimization of Rodrigues parameters. The effectiveness of the algorithm was discussed, the error equations were deduced, and a simple implementation scheme was proposed. A four-position alignment experiments with 6 times each position was carried out by using the vehicle SINS under the engine vibration and external random disturbances. The results show that the new algorithm can converge within 5 min, and the root mean square (1') of yaw error is less than 3'. ©, 2015, Editorial Department of Journal of Chinese Inertial Technology. All right reserved.