In order to restrain high-frequency stochastic perturbation of initial alignment under marine mooring condition,a novel 2D-HMM/KF(two dimensional hidden Markov model/Kalman filter) based initial alignment algorithm in inertial frame was proposed.High-frequency stochastic noises were pre-filtered through 2D-HMM/KF,and approximate periodic medium-frequency perturbation could be eliminated by integral computation,hence,the low-frequency gravity vector information was drew from raw data in body inertial frame a...
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