A High-Accuracy GPS-Aided Coarse Alignment Method for MEMS-Based SINS

In order to improve the computational efficiency and alignment accuracy of a microelectromechanical system (MEMS)-based strap-down inertial navigation system (SINS), this article proposes a high-Accuracy global positioning system (GPS)-Aided coarse alignment method. The attitude matrix between current and initial body frames and the unknown gyro bias, accelerometer bias, and lever arm are jointly estimated based on the proposed closed-loop approach, where the attitude error and unknown parameters are jointly inferred based on the derived linear state-space model using the Kalman filter. Simulation and experimental results illustrate that the proposed GPS-Aided coarse alignment method can achieve better accuracy than existing state-of-The-Art coarse alignment methods for MEMS-based SINS.