Alignment of Large Azimuth Misalignment Angle SINS Based on SGHKF

In order to improve alignment accuracy, shorten alignment time of strapdown inertial navigation system and reduce computation of nonlinear filter, new Gauss-Hermite filter based on sparse gird gauss quadrature rule is used. Compared with conventional Gauss-Hermite filter based on tensor product gauss quadrature rule, the new GHKF not only maintains traditional GHKF's advantage of precission controllable, but also avoid the curse of dimension problem. Theoretical analysis and experimental results show that initial alignment of sins based on new filter performs significantly better than EKF and slightly better than UKF in alignment accuracy and speed, and calculation amout is significantly less than traditional GHKF.