Development of an Intelligent and Hybrid Scheme for Rapid INS Alignment

This article propose a new idea of developing a hybrid scheme to achieve faster INS alignment with higher accuracy using a novel procedure to estimate the initial attitude angles that combines a Kalman filter and Adaptive Neuro- Fuzzy Inference System architecture. A tactical grade inertial measurement unit was applied to verify the performance of proposed scheme in this study. The preliminary results indicated the outstanding improvements in both time consumption for fine alignment process and accuracy of estimated attitude angles, especially in heading angles. In general, the improvement in terms of time consumption and the accuracy of estimated attitude estimated accuracy reached 80% and 70% respectively during alignment process after compensating the attitude angles estimated by an extended Kalman filter with 15 states using proposed approach. It is worth mentioned that the proposed approach can be implemented in general real time navigation applications.