This study is to deal with a failure phenomenon that occurred during a vibration test on an Inertial Navigation System mounted on a self-propelled howitzer. Vibration occurs naturally due to the operation characteristics of self-propelled howitzers, The study describes a case of failure that occurred during the durability verification process. It explains the function and configuration of the INS(Inertial Navigation System) and describe how the failure occurred through understanding the phenomenon. Based on the occurrence phenomenon, an in-depth cause analysis was conducted and fundamental improvement measures were presented to prevent recurrence. It is expected that this study will aid as a reference for problem solving when similar failures occur in the future.

This paper describes an alignment algorithm that estimates the initial heading angle of AUVs (Autonomous Underwater Vehicle) for starting navigation in a sea area. In the basic dead reckoning system, the initial orientation of the vehicle is very important. In particular, the initial heading value is an essential factor in determining the performance of the entire navigation system. However, the heading angle of AUVs cannot be measured accurately because the DCS (Digital Compass) corrupted by surrounding magnetic field in pointing true north direction of the absolute global coordinate system (not the same to magnetic north direction). Therefore, we constructed an experimental constraint and designed an algorithm based on extended Kalman filter using only inertial navigation sensors and a GPS (Global Positioning System) receiver basically. The value of sensor covariance was selected by comparing the navigation results with the reference data. The proposed filter estimates the initial heading angle of AUVs for navigation in a sea area and reflects sampling characteristics of each sensor. Finally, we verify the performance of the filter through experiments.