Generalized error analysis of analytical coarse alignment formulations for stationary SINS

This communication presents additional results on a recently published work of the author [1], which addressed the stationary coarse alignment (CA) stage of strapdown inertial navigation systems (SINS). As main contribution of this communication, the error analysis proposed in [1] is extended, and novel general expressions for the SINS CA errors are derived, which are valid regardless of the inertial measurement unit (IMU) orientation, and present hence, greater practical applicability. The general error expressions prove to be similar to the simplified equations derived in [1], but with body frame coordinates replaced by navigation frame coordinates. Simulation results validates the adequacy of the outlined verifications, and are in agreement with experimental results found in the literature.