Fast SINS Initial Alignment Method Based on Iterative Algorithms in Inertial Frame

Table 1

Sensor errors.

	Gyro bias		Accelerometer error
	Constant	Random	Constant	Random
x-axis	0.02°/h	0.01°/h	50 μg	20 μg
y-axis	0.02°/h	0.01°/h	50 μg	20 μg
z-axis	0.02°/h	0.01°/h	50 μg	20 μg