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<p>Accurate and rapid initial heading alignment is critical for shipborne GNSS/INS integrated navigation systems. Conventional methods, however, are often limited by long convergence time and sensitivity to maritime environmental disturbances. In this contribution, we proposed a rapid alignment technique grounded in trajectory matching, underpinned by a fundamental theoretical insight: the horizontal discrepancy between the INS-mechanized displacement and GNSS-derived displacement could be attributed solely to the initial heading errors. Unlike traditional filter‑based techniques that require extended initialization, our method achieved high‑precision heading estimation within seconds by exploiting this explicit mechanistic link. Simulations revealed that the alignment accuracy improved consistently with both travel distance (0.1–5&#xa0;m) and velocity. Optimal matching distances were identified for specific speed ranges: 3&#xa0;m at 1&#xa0;m/s, 4&#xa0;m for 2–4&#xa0;m/s, and 5&#xa0;m for speeds ≥ 5&#xa0;m/s or higher, resulting in RMS errors as low as 0.1°–0.25°. Real-world ship trials conducted at 2–3&#xa0;m/s under challenging conditions, including wind, waves, and currents, further validated robustness of the proposed method, yielding a combined RMS value of 0.48° with most heading deviations within ± 0.5°. This work bridges an important gap in marine navigation by offering a computationally efficient and conceptually novel framework for rapid, precise initial heading alignment.</p>

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Trajectory matching aided rapid initial heading alignment for shipborne GNSS/INS system

  • 期刊论文

  • 发表日期：

    2026年5月8日

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  • Shidong Zhang,
  • Feng Zhou

摘要

Accurate and rapid initial heading alignment is critical for shipborne GNSS/INS integrated navigation systems. Conventional methods, however, are often limited by long convergence time and sensitivity to maritime environmental disturbances. In this contribution, we proposed a rapid alignment technique grounded in trajectory matching, underpinned by a fundamental theoretical insight: the horizontal discrepancy between the INS-mechanized displacement and GNSS-derived displacement could be attributed solely to the initial heading errors. Unlike traditional filter‑based techniques that require extended initialization, our method achieved high‑precision heading estimation within seconds by exploiting this explicit mechanistic link. Simulations revealed that the alignment accuracy improved consistently with both travel distance (0.1–5 m) and velocity. Optimal matching distances were identified for specific speed ranges: 3 m at 1 m/s, 4 m for 2–4 m/s, and 5 m for speeds ≥ 5 m/s or higher, resulting in RMS errors as low as 0.1°–0.25°. Real-world ship trials conducted at 2–3 m/s under challenging conditions, including wind, waves, and currents, further validated robustness of the proposed method, yielding a combined RMS value of 0.48° with most heading deviations within ± 0.5°. This work bridges an important gap in marine navigation by offering a computationally efficient and conceptually novel framework for rapid, precise initial heading alignment.