Linear and nonlinear error models for Inertial Navigation System (INS) initial alignment are established.

建立了惯导系统(INS)初始对准的线性和非线性误差模型。

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The rapid matching alignment method of the inertial navigation system(INS) for the small misalignment had already been more mature, and had met the requirements from rapid and accuracy.

小失准角情况的惯导快速匹配对准方法研究已经比较成熟，在快速性和精度方面达到了使用要求。

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Existing closed-loop methods for measuring gyro drift can not meet the precision and speed requirements needed for initial alignment of INS (inertial navigation system).

惯导对准过程中陀螺仪漂移率的测量是一个重要的工程实际问题 ，经典的闭环测量在测量精度和快速性等方面存在缺点。

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