The alignment process is separated into two steps, i. e. , coarsealignment, or analytical alignment, and open-loop fine alignment.
对准过程分作二步完成，即解析对准与开环精对准。
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The paper proposes a new alignment scheme, in which the gravity message is used in the coarsealignment procedure, and an adaptive Kalman filter is used in the fine alignment procedure.
In order to accomplish coarsealignment on a swaying base, the integrations of the gravity vector in the inertial coordinate of two different periods of time are selected as the reference vectors.