Coarse alignment for Fiber Optic Gyro SINS with external velocity aid

Random movements including angular and linear movements by sway action, together with deliberate velocities of ship maneuvers, are big challenges for coarse alignment of Fiber Optic Gyro (FOG) Ship Inertial Navigation System (SINS) on sailing ship. It is impossible to solve the problem mentioned above with traditional methods. So a new analytic alignment method is proposed in this paper, in which the gyro measurements can track body angular movements, an aiding velocity sensor can describe deliberate velocities of ship maneuvers, and the integral of the equation of the time rate of change of the maneuver velocity is used in computing a strapdown attitude matrix. The experiment results confirm the efficiency of the proposed method.