I am new in inertial navigation field. I have some confusion about fine alignment process of INS. I want to ask that what is purpose of fine alignment?
I know by process of alignment we find the initial attitude matrix from body frame to navigation frame (reference frame) which normally take place by two step
- Coarse alignment
a. what is major difference between both steps?
b. how fine alignment refine the output of coarse alignment? Does Fine alignment minimize the errors to get more accurate output? or Does Fine alignment re correct the initial attitude estimate by coarse alignment?
c. why sensor bias like accelerator and gyro bias and lever arm error are estimated in Fine alignment process.