针对这一问题，提出了利用惯性空间中地球重力加速度信息的捷联惯导自主粗对准方法，以及基于模糊自适应卡尔曼滤波的自主精对准方法。
The paper proposes a new alignment scheme, in which the gravity message is used in the coarse alignment procedure, and an adaptive Kalman filter is used in the fine alignment procedure.
与重力加速度相比，磁加速度是一个依赖于空间位置的变量，其大小和方向随外磁场的磁路布置发生改变。
Unlike the gravitational acceleration, the magnetic acceleration is a location-dependent variable and its magnitude and direction vary with the magnetic circuit configuration.
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