SINS Initial Alignment Based on Wavelet Transform and Sequential Robust Adjustment

A new method is presented to determine the original attitude based on the wavelet transform and three-parameter sequential robust adjustment.First the wavelet multi-resolution analysis is applied to de-noise the noise components from the measurements of gyros and accelerometers.Then the original attitude angles are calculated by the three-parameter sequential robust adjustment.By the simulating stationary data,it is determined that this new method can ensure high alignment accuracy in short time.