MLCA—a machine learning framework for ins coarse alignment

Idan Zak, Reuven Katz, Itzik Klein

Research output: Contribution to journalArticlepeer-review


Inertial navigation systems provides the platform’s position, velocity, and attitude during its operation. As a dead-reckoning system, it requires initial conditions to calculate the navigation solution. While initial position and velocity vectors are provided by external means, the initial attitude can be determined using the system’s inertial sensors in a process known as coarse alignment. When considering low-cost inertial sensors, only the initial roll and pitch angles can be determined using the accelerometers measurements. The accuracy, as well as time required for the for the coarse alignment process are critical for the navigation solution accuracy, particularly for pure-inertial scenarios, because of the navigation solution drift. In this paper, a machine learning framework for the stationary coarse alignment stage is proposed. To that end, classical machine learning approaches are used in a two-stage approach to regress the roll and pitch angles. Alignment results obtained both in simulations and field experiments, using a smartphone, shows the benefits of using the proposed approach instead of the commonly used analytical coarse alignment procedure.

Original languageEnglish
Article number6959
Pages (from-to)1-18
Number of pages18
Issue number23
StatePublished - 5 Dec 2020

Bibliographical note

Publisher Copyright:
© 2020 by the authors. Licensee MDPI, Basel, Switzerland.


  • Coarse alignment
  • Inertial navigation system
  • Machine learning

ASJC Scopus subject areas

  • Analytical Chemistry
  • Information Systems
  • Atomic and Molecular Physics, and Optics
  • Biochemistry
  • Instrumentation
  • Electrical and Electronic Engineering


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