Initial Alignment of SIMU with Disturbances

Considering the complex circumstances and disturbances when SIMU is processing the initial alignment, a new method could restrain the interference is studied. Facing the disturbances caused by the carrier shaking, the engine, the generator, etc. the method add a first order low-pass filter to filter the horizontal velocity observations to reduce the impact of interference. Meanwhile, taking an improved Sage-Husa adaptive kalman filter to estimates R on line to modified filter parameters in order to advance the precision and stability of the filter. The experimental results show that this method can improve the initial alignment of SIMU with disturbances.