Application of Bilinear Recursive Least Square Algorithm for Initial Alignment of Strapdown Inertial Navigation System

  • Bidhan MalakarEmail author
  • B. K. Roy
Part of the Smart Innovation, Systems and Technologies book series (SIST, volume 27)


To improve the alignment accuracy and convergence speed of Strapdown inertial navigation system, an initial alignment which is based on Bilinear Recursive Least Square adaptive filter is proposed. The error model for the Strapdown Inertial Navigation System (SINS) is derived from the dynamic model by considering a small misalignment angle. In the literature many algorithms are proposed for the proper estimation of alignment accuracy for INS and it is still a challenge. In this paper, two algorithms which are mainly based on nonlinear adaptive filter viz. Volterra Recursive Least Square (VRLS) and Bilinear Recursive Least Square (BRLS) are proposed and compared for proper estimation of accurate azimuth alignment error. The comparative performances of the aforesaid algorithms are studied and the performance of proposed BRLS algorithm is found to be effective which is obtained in existence of two different white Gaussian noises. The simulation work is done in MATLAB simulating environment. For the realization and validation of proposed BRLS algorithm, the comparative analysis is also precisely presented.


Adaptive Filter Body Frame Alignment Accuracy Initial Alignment Misalignment Angle 
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© Springer International Publishing Switzerland 2014

Authors and Affiliations

  1. 1.Department of Electrical EngineeringNational Institute of Technology SilcharSilcharIndia

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