the alignment model established in this paper, is complete observable, which brings the excellent performance of the filter as well as the high accuracy and speed of the alignment. Compared with the traditional initial alignment technology, the new approach have such advantages as follow: it could estimate all states include east gyro drift rate and azimuth misalignment angle accurately in short time; higher alignment accurate; shorter alignment time; more self-contained and less calculation. Therefore, the new approach is a preferable choice for SINS stationary self-alignment.

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