On the Optimized Use of Nonorthonormality Constraints for the Quasi-Static INS Alignment of Autonomous Underwater and Surface Vehicles

Inertial navigation systems are specialized navigation apparatuses that equip almost all autonomous underwater and surface vehicles. They require precise initial alignment, i.e., determination of their initial attitude, which is typically achieved: 1) in quasi-static conditions (whenever possible); and 2) in two stages: coarse alignment (CA), using methods like TRI-axis attitude determination (TRIAD), and fine alignment (FA), via a zero velocity update (ZVU)-based extended Kalman filtering. However, conventional methods suffer from slow convergence and limited bias estimability. In response, this article introduces: 1) an optimized version of a recently proposed CA method, namely, TRIAD with coarse bias estimation (TRIAD-CBE); and 2) a novel FA EKF observation model that incorporates nonorthonormality (NON) error constraints derived from TRIAD, directly linking these errors to the inertial sensor biases. As validated through extensive Monte Carlo (MC) simulations, as well as real-world experiments using two inertial measurement units (IMUs) of different grades, our approaches substantially accelerate the convergence of misalignment and bias estimates (from minutes to seconds), while maintaining accuracy/precision comparable to traditional techniques.