The initial alignment technique of Strapdown Inertial Navigation Systems(SINS) for Underwater Vehicle is studied in the paper, which adopts two-order horizontal alignment for level alignment and quaternion correction for azi- muth alignment.

• 研究摇摆基座上进行的惯导系统初始对准技术 ,提出了水平对准采用二阶调平、方位对准采用四元数补偿的初始对准方案。