For situations where accurate attitude information is needed while the position is not readily available or not necessarily required, such as the attitude heading reference system, this article proposes a velocity-aided in-motion alignment scheme for a strapdown inertial navigation system (SINS) during geographic latitude uncertainty. In the coarse alignment stage, a gravitational apparent motion rebuilding method based on the integral velocity smoothing is designed to roughly determine the attitude and latitude information. Then, the SINS/velocity-integrated navigation method uses the recorded data to complete the fine alignment. Due to the adoption of a well-designed backtracking navigation strategy, the storage space and computation load are reduced to the degree that an ordinary navigation computer can work with. Nine ship tests were carried out and the results show that the proposed method can align the azimuth with an accuracy of 0.04° in a moving environment, which is the same as that of normal in-motion alignment with a known position.

中文翻译：

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具有纬度不确定性的速度辅助SINS的运动中对准

对于需要精确的姿态信息而位置不易获得或不必要的情况，例如姿态航向参考系统，本文提出了一种用于捷联惯性导航系统（SINS）的速度辅助运动对准方案。地理纬度不确定性。在粗调准阶段，设计了一种基于积分速度平滑的重力视运动重建方法，以大致确定姿态和纬度信息。然后，SINS /速度集成导航方法使用记录的数据来完成精细对齐。由于采用了精心设计的回溯导航策略，因此存储空间和计算负荷都降低到了普通导航计算机可以使用的程度。