Aiming at the problem of the decline in self-alignment precision of the ship and the shipboard weapon systems in the presence of waves

a self-alignment approach which coarse alignment based on compass method and fine alignment based on center difference Kalman filter is proposed.The classic compass method can make the attitude convergence to a limit accuracy which the fine alignment algorithm can be tolerated with any initial error. The fine alignment algorithm based on CDKF can estimate the attitude error accurately with a relative large misalignment angle.The simulation experiment illustrate that the proposed approach is suitable for any SINS alignment without maneuvering with high precision and fast speed

simple realization.