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Transfer alignment can achieve rapid alignment of inertial navigation system and is widely applied in shipborne and airborne weapon systems, as well as in distributed attitude estimation and carrier deformation estimation. This paper presents a comprehensive review and comparison of transfer alignment models. Both attitude and velocity errors are derived based on the mathematical definition and reference frame of error. Both theoretical analyses and simulations are conducted to compare the performance of several transfer alignment methods, especially those that address the problem of large misalignment angle. This paper not only summarises existing research about transfer alignment but also provides a comprehensive evaluation of the effectiveness of these methods.
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Xu et al. (2025) studied this question.
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