Interacting Multiple Model Based Rapid Alignment Method of Inertial Navigation System under Large Attitude Error

A nonlinear model and linear model based interacting multiple model(IMM) alignment method is proposed to shorten the alignment time.The nonlinear model and linear model of strapdown inertial navigation are given and the inter-acting multiple model is designed.The alignment algorithm is validated by the simulation and turntable test.Results show that the interacting multiple model alignment method can accelerate filtering convergency and improve the final alignment accuracy.