On the Optimized Use of Non-Orthonormality Constraints for the Quasi-Static INS Alignment of Autonomous Underwater and Surface Vehicles

arXiv:2608.21390v1 Announce Type: new Abstract: Inertial navigation systems are specialized navigation apparatuses that equip almost all autonomous underwater and surface vehicles. They require precise initial alignment, i.e., determination of their initial attitude, which is typically achieved: (a