SINS initialization alignment precision influences INS precision

conventional self-alignment method requires high precision turntable

turntable positioning error influences alignment precision seriously.A method of SINS two-position self-alignment considering turntable positioning error is put forward

in the alignment position and turn process

considering the characteristic that IMU conjoint output information changes slowly.Through introducing inter-mediate coordinate system

precise tracking of actual turn angle and real-time calculation of navigation error are realized

initialization gesture angle error is identified

result is revised repeatedly until satisfied alignment precision request.This algorithm’s northseaking precision in static state and dynamic condition is validated.Test results show that northseaking precision in static state condition is 18.3248″（1σ）

northseaking precision in dynamic condition is 32.63307″（1σ）

this method overcomes impact of turntable positioning error

alignment precision and calculating speed satisfy alignment request

which is of great value for project application.