{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,28]],"date-time":"2026-02-28T04:27:07Z","timestamp":1772252827095,"version":"3.50.1"},"reference-count":27,"publisher":"MDPI AG","issue":"10","license":[{"start":{"date-parts":[[2015,10,5]],"date-time":"2015-10-05T00:00:00Z","timestamp":1444003200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"the National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["51379042"],"award-info":[{"award-number":["51379042"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"the National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["51379047"],"award-info":[{"award-number":["51379047"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"name":"the Fundamental Research Funds for the Central Universities","award":["No.HEUCF150810"],"award-info":[{"award-number":["No.HEUCF150810"]}]},{"name":"the Postdoctoral grants of Heilongjiang Province","award":["3236310313"],"award-info":[{"award-number":["3236310313"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>In this paper, an improved inertial frame alignment algorithm for a marine SINS under mooring conditions is proposed, which significantly improves accuracy. Since the horizontal alignment is easy to complete, and a characteristic of gravity is that its component in the horizontal plane is zero, we use a clever method to improve the conventional inertial alignment algorithm. Firstly, a large misalignment angle model and a dimensionality reduction Gauss-Hermite filter are employed to establish the fine horizontal reference frame. Based on this, the projection of the gravity in the body inertial coordinate frame can be calculated easily. Then, the initial alignment algorithm is accomplished through an inertial frame alignment algorithm. The simulation and experiment results show that the improved initial alignment algorithm performs better than the conventional inertial alignment algorithm, and meets the accuracy requirements of a medium-accuracy marine SINS.<\/jats:p>","DOI":"10.3390\/s151025520","type":"journal-article","created":{"date-parts":[[2015,10,5]],"date-time":"2015-10-05T10:26:41Z","timestamp":1444040801000},"page":"25520-25545","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":15,"title":["An Improved Inertial Frame Alignment Algorithm Based on Horizontal Alignment Information for Marine SINS"],"prefix":"10.3390","volume":"15","author":[{"given":"Yanting","family":"Che","sequence":"first","affiliation":[{"name":"College of Automation, Harbin Engineering University, Harbin, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Qiuying","family":"Wang","sequence":"additional","affiliation":[{"name":"College of Information and Communication Engineering, Harbin Engineering University, Harbin, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Wei","family":"Gao","sequence":"additional","affiliation":[{"name":"College of Automation, Harbin Engineering University, Harbin, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Fei","family":"Yu","sequence":"additional","affiliation":[{"name":"College of Automation, Harbin Engineering University, Harbin, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2015,10,5]]},"reference":[{"key":"ref_1","unstructured":"Britting, K.R. 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