Application of Adaptive Robust CKF in SINS/GPS Initial Alignment with Large Azimuth Misalignment Angle

Table 1

The alignment result based on the CKF and robust CKF filtering algorithm.

Filtering algorithm	East misalignment angle	North misalignment angle	Azimuth misalignment
CKF	21.9″	20.4″	6.08′
Robust CKF	19.2″	18.9″	5.13′