Initial alignment is a key technique of INS, which plays an important role in the performance of navigation system.
初始对准是惯性导航系统的关键技术之一，它直接影响惯导系统的导航性能。
In the software design the gyro's drift measure and the process of calibration is added. The Kalman filtering technique is used in the horizontal initial alignment and the azimuth initial alignment.
在软件设计中加入了陀螺仪的测漂和定标过程，在水平初始对准、方位初始对准过程中运用了卡尔曼滤波技术。
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