Self-alignment algorithm for strapdown inertial navigation system under strong flurry interference

For the strong flurry interrupting, the body will suffer large swaying motion when it is in erecting state ,the output of its strapdown inertial navigation system (SINS) will be disturbed for the high gravitational. center of IMU, the conventional methods are difficult to achieve alignment rapidly and accurately, to solve this problem, an anti-interference self-alignment algorithm for SINS which under strong flurry is presented, which utilizes the continuous attitude update in inertial reference frame to record the attitude changes caused by sway interrupt to remove the angular interrupting, and uses the characteristics that the body exists a shake center whose speed is zero to remove the linear movement interrupting by acquiring the equivalent specific force of the shake center, and then uses the estimation of the initial attitude to determinate the attitude of the body. The simulation result show that the presented algorithm can accomplish alignment quickly even in the presence of strong flurry interference without coarse alignment phase.