The traditional in-motion initial alignment method rnobtains the gravity vector in inertial coordinate rnsystem twice while rnparking the land vehicle, and then work out the rntransformation matrix according to the information rnobtained. This method sets a limit rnto the speed and route of vehicle and requires high rnprecision in positioning of coarse alitgnment. In rnthis work, digital map is rnintroduced into the in-motion alignment. With the aid rnof map matching algorithm, the positioning accuracy rnis greatly improved in all rnspeeds and routes, which reduces the effect of rnmisalignment angle from coarse alignment for rnpositioning error and improves the rnaccuracy of the in-motion initial alignment. Road rntests results show that the integration of digital rnmap and RLG SINS eliminates the rnrequirements of speeds and routes for land vehicles rnand greatly reduces the effect of coarse alignment rnfor azimuth accuracy. It not rnonly enhances the mobility of land vehicle but also rnimproves the accuracy of initial alignment of rninertial navigation system, which is rnmeaningful in real application.
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