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To obtain a high-accuracy position with SINS(Strapdown Inertial NavigationSystem), initial alignment needs to determine initial attitude rapidly andaccurately. High-accuracy grade IMU(Inertial Measurement Uint) can obtain theinitial attitude indenpendently, however, the low-accuracy grade gyroscopedoesn't adapt to determine the heading angle, hence the initial attitude matrixwill not be obtained. If using large misalignment angle model to estiamtingheading angle, the convergence time will become much longer. For solving thesetwo problems, a novel alignment algorithm combined backtracking algorithm andreverse navigation updating method with GNSS(Global Navigation SatelliteSystem) aiding is proposed herein. The simulation and land vehicle test werefinished to evaluate the alignment accuracy of the proposed algorithm. Thehorizontal misalignment is less than 2.3 arcmin and the heading misalignment isless than 10.1 arcmin in test. The proposed algorithm is a feasible andpractical alignment method for low-cost IMU to obtain initial attitude in shortterm and large misalignment condition aided by GNSS.

A GNSS Aided Initial Alignment Method for MEMS-IMU Based on Backtracking Algorithm and Backward Filtering