Coarse leveling of gyro-free INS

E. Vaknin, I. Klein

Research output: Contribution to journalArticlepeer-review


For a stationary system, coarse alignment is used to initially determine the orientation of the INS by utilizing the Earth gravity and rotation vectors. Yet, a gyro-free INS has only accelerometers and hence cannot measure the Earth rotation vector and thus cannot deduce its yaw angle. In this paper, we formulate the coarse-alignment procedure and derive error characteristics for a gyro-free system. In addition, a comparison between different configurations of accelerometers is being conducted.

Original languageEnglish
Pages (from-to)145-151
Number of pages7
JournalGyroscopy and Navigation
Issue number2
StatePublished - 1 Apr 2016
Externally publishedYes

Bibliographical note

Publisher Copyright:
© 2016, Pleiades Publishing, Ltd.

ASJC Scopus subject areas

  • Control and Systems Engineering
  • General Computer Science
  • Electrical and Electronic Engineering


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