# Navigation Procedures

Before using the rover, the navigation system needs to be initialized and aligned in order to produce an accurate estimate of all of the system’s trajectories.

Proper rover alignment requires an initial attitude estimate. When processing INS data, small changes in velocity and orientation are utilized to derive position, velocity and attitude from a starting point. During the rover’s startup, it has no position, velocity or attitude information. The initial position and velocity of the IMU are usually derived from the GNSS data. Initial roll and pitch are derived from the accelerometer measurements and initial heading is derived from gyroscope measurements.

{% content-ref url="/pages/-LVtypjJo3wZ2KljxOAL" %}
[Navigation System Alignment](/rover/theory-and-workflow/navigation-and-alignment-techniques/navigation-procedures/navigation-system-alignment.md)
{% endcontent-ref %}

{% content-ref url="/pages/-LVtzJR0dIx3zG1rbMrg" %}
[Navigation System Stabilization](/rover/theory-and-workflow/navigation-and-alignment-techniques/navigation-procedures/navigation-system-stabilization.md)
{% endcontent-ref %}


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