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

Table 6

Comparison of the attitude angle error and the alignment time.

	TRIAD	QUEST	FLAE	AISOG	SOGO
Yaw error ()
Mean value	89.6247	55.1124	51. 8728	43.5465	24.9348
Variance	29.0471	11.2784	10.7925	9.6945	5.8937
Pitch error ()
Mean value	19.1787	11.3142	10.2852	7.8249	4.0164
Variance	4.1463	1.9314	1.7513	1.2435	0.6846
Roll error ()
Mean value	18.6347	10.1426	8.8345	6.4312	3.2863
Variance	3.4662	1.4254	1.2413	0.9495	0.4374
Alignment time (s)	126	103	98	92	76