Novel Special Orthogonal Group Optimization for Coarse Alignment Method of SINS on a Rocking Base

Table 1

Definitions of the reference frames.

Reference frame	Definition
frame	The navigation frame ( frame), which is orthogonal reference frame aligned with east-north-up (E-N-U) geodetic axes
frame	The sensor’s body fixed frame
frame	The inertial coordinate frame
frame	The inertial coordinate frame obtained by fixing the frame at the initial time
frame	The inertial coordinate frame obtained by fixing the frame at the initial time