Solving the Autonomous Initial Navigation Task for Strapdown Inertial Navigation System on the Perturbed Basis Using Rodriguez—Hamilton Parameters

The paper attempts to solve the initial orientation task for perturbed-basis strapdown inertial navigation systems (SINS) of aircraft with most general assumptions about the character of the angular motion of the basis and the accelerations perturbing the SINS. The solution has been attained in the form of generalized Kalman filter using the vector of Rodriguez—Hamilton parameters as the state vector, and the measurement vector of the SINS accelerometers as the observation vector. A practical example serves to illustrate the high precision and convergence rate of estimation process of the aircraft SINS initial orientation parameters. © 2019, Allerton Press, Inc.