Coarse Alignment for SINS Using Gravity in the Inertial Frame Based on Attitude Quaternion


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In order to solve the problems of coarse alignment on swaying base of SINS, a novel method based on attitude quaternion is proposed. A decomposition of the objective initial attitude quaternion is given firstly. The time-varying parts can be derived from the quaternion update, and the invariable part can be obtained by using the integration of gravity. The problem finally becomes the Wahba’s problem. By using the FORM algorithm, the calculating process is optimized and the method can be easily used in engineering application. The final simulation verifies that the method proposed has higher accuracy than conventional methods.



Edited by:

Prasad Yarlagadda and Yun-Hae Kim




W. D. Zhou et al., "Coarse Alignment for SINS Using Gravity in the Inertial Frame Based on Attitude Quaternion", Applied Mechanics and Materials, Vols. 241-244, pp. 413-417, 2013

Online since:

December 2012




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