Abstract: The static alignment of an inertial navigation system/global navigation satellite system (INS/GNSS) integrated navigation system usually takes a long time and the azimuth accuracy is low. Besides, the navigation system cannot obtain accurate attitude information while recovering from malfunctions in flight. To solve the above problems, a novel alignment method based on specific force equation is proposed which utilizes GNSS and inertial measurement unit (IMU) information to calculate attitude of the flight. Genetic-Newton algorithm is adopted to improve the accuracy of the alignment calculation, and the autoregressive integrated moving average (ARIMA) model Kalman filter is adopted to reduce the noise of GNSS and accelerometer outputs. The alignment method is verified by calculation with actual measurements. The results show the effectiveness of the proposed method. The alignment accuracy proves that this study can be valuable for engineering application.

Key words: inertial navigation systems, global navigation satellite system, initial alignment, genetic algorithm, Newton method, ARIMA model