{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,13]],"date-time":"2026-05-13T01:33:44Z","timestamp":1778636024617,"version":"3.51.4"},"reference-count":33,"publisher":"MDPI AG","issue":"2","license":[{"start":{"date-parts":[[2019,1,19]],"date-time":"2019-01-19T00:00:00Z","timestamp":1547856000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["61773116"],"award-info":[{"award-number":["61773116"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"name":"the Fundamental Research Funds for the Central Universities and the Postgraduate Research &amp; Practice Innovation Program of Jiangsu Province","award":["KYCX17_0103"],"award-info":[{"award-number":["KYCX17_0103"]}]},{"name":"the Scientific Research Foundation of Graduate School of Southeast University","award":["YBJJ1847"],"award-info":[{"award-number":["YBJJ1847"]}]},{"name":"the Shanghai Aerospace Science and Technology Innovation Fund","award":["SAST2016024"],"award-info":[{"award-number":["SAST2016024"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Transfer alignment on a moving base under a complex dynamic environment is one of the toughest challenges in a strapdown inertial navigation system (SINS). With the aim of improving rapidity and accuracy, velocity plus attitude matching is applied in the transfer alignment model. Meanwhile, the error compensation model is established to calibrate and compensate the errors of inertial sensors online. To suppress the filtering divergence during the process of transfer alignment, this paper proposes an improved adaptive compensation H\u221e filtering method. The cause of filtering divergence has been analyzed carefully and the corresponding adjustment and optimization have been made in the proposed adaptive compensation H\u221e filter. In order to balance accuracy and robustness of the transfer alignment system, the robustness factor of the adaptive compensation H\u221e filter can be dynamically adjusted according to the complex external environment. The aerial transfer alignment experiments illustrate that the adaptive compensation H\u221e filter can effectively improve the transfer alignment accuracy and the pure inertial navigation accuracy under a complex dynamic environment, which verifies the advantage of the proposed method.<\/jats:p>","DOI":"10.3390\/s19020401","type":"journal-article","created":{"date-parts":[[2019,1,22]],"date-time":"2019-01-22T03:08:22Z","timestamp":1548126502000},"page":"401","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":9,"title":["An Improved Adaptive Compensation H\u221e Filtering Method for the SINS\u2019 Transfer Alignment Under a Complex Dynamic Environment"],"prefix":"10.3390","volume":"19","author":[{"given":"Weiwei","family":"Lyu","sequence":"first","affiliation":[{"name":"School of Instrument Science &amp; Engineering, Southeast University, Nanjing 210096, China"},{"name":"Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, Southeast University, Nanjing 210096, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4002-2592","authenticated-orcid":false,"given":"Xianghong","family":"Cheng","sequence":"additional","affiliation":[{"name":"School of Instrument Science &amp; Engineering, Southeast University, Nanjing 210096, China"},{"name":"Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, Southeast University, Nanjing 210096, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6485-780X","authenticated-orcid":false,"given":"Jinling","family":"Wang","sequence":"additional","affiliation":[{"name":"School of Civil and Environmental Engineering, University of New South Wales, Sydney, NSW 2052, Australia"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2019,1,19]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"55","DOI":"10.1016\/j.measurement.2014.03.014","article-title":"Assessment approach for calculating transfer alignment accuracy of SINS on moving base","volume":"52","author":"Yang","year":"2014","journal-title":"Measurement"},{"key":"ref_2","unstructured":"Shortelle, K.J., Graham, W.R., and Rabourn, C. 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