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

Table 3

Comparison of the attitude angle error and the alignment time obtained using different coarse alignment methods.

	TRIAD	QUEST	FLAE	AISOG	SOGO
Yaw error ()
Mean value	11.6247	8.4124	7. 8728	5.7845	4.2348
Variance	1.1421	0.8784	0.7925	0.5945	0.3893
Pitch error ()
Mean value	1.2157	-0.6142	0.5852	0.5449	0.4016
Variance	0.2463	0.0524	0.0513	0.0612	0.0328
Roll error ()
Mean value	1.4245	0.8926	-0.8345	-0.7143	0.4863
Variance	0.4662	0.0424	0.0413	0.0615	0.0304
Alignment time (s)	110	82	76	65	40