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

Table 2

Definitions of various symbols.

Reference frame	Definition
	Skew-symmetric matrix operator
	Map from skew-symmetric matrix to a vector
	Sampling time interval
	Attitude matrix between the frame and the frame
	Angular rate vector
	identity matrix
	Specific force
	Gravitational acceleration