Comprehensive assessment for dynamic transfer alignment accuracy of strap-down inertial navigation system

As a comprehensive index, the concept of DOA (degree of alignment) is presented and is tried out in engineering application of the integrated evaluation identification of transfer alignment precision. Based on this, the statistical formulas are given. Then the scheme and flow of transfer alignment on moving base are put forward to solve the problem that the attitude error cannot be measured directly. The algorithms of FPS (fixed point smoothing), RTS (fixed interval smoothing) and ISRE (Inverted Sequence Recursive Estimation) are discussed which are suitable for evaluating alignment precision. The simulation verification and comparison shows that the DOA can reflect not only the alignment time and accuracy, but also the differences of maneuver scheme, which is suitable to use as an integrated evaluation index. The three algorithms can all be applied in the field of transfer alignment precision evaluation and identification, and RTS is the recommended algorithm in engineering practice; Generalized DOA should be calculated according to tactical requirement.