A fast strapdown gyrocompassing algorithm based on INS differential errors

This paper presents an enhanced algorithm for inertial gyrocompassing using strapdown sensors, which performs faster than the other available ones. The proposed algorithm is based on differential errors in an inertial navigation system and requires only the output of the inertial measurement unit while extracting and compensating for the inertial sensor errors. After eliminating the error of the inertial sensors, which is accomplished swiftly, the coarse alignment algorithm performs with error-compensated sensors, and the true north is extracted accurately. The number of non-observable parameters of the algorithm is equal to that of the fine alignment algorithm; therefore, its accuracy is the same as that of a well-tuned fine alignment. Numerical simulations and lab experiments demonstrate that the proposed method performs heading estimation in the time required to perform the coarse alignment, which is faster than the existing fine alignment algorithms.