Initial alignment of inertial navigation system

The error modeling methods and algorithms of initial alignment (I/A), the methods of state estimation, observability analysis, and transfer alignment (T/A) methods are discussed, respectively. The T/A can implement rapid in-flight alignment between master INS and slave INS, therefore it is usually used for in-flight INS. Urgent problems faced I/A of INS are presented. Put forward a research direction is to develop error modeling methods and algorithms, robust adaptive state estimation methods, and novel technique in order to implement high accuracy, rapidness and robustness of I/A of INS.