Wavelet denoising for improving transfer alignment of strapdown inertial navigation systems
结合小波消噪的捷联惯导系统传递对准性能改进

The transfer alignment of strapdown inertial navigation systems is discussed. An improved transfer alignment algorithm that augments velocity matching with attitude matching is introduced for improving the estimation performance of attitude errors and the inertial measurement unit(IMU) calibration parameters. Based on the spectrum characteristics of IMU raw measurements, we introduce the wavelet cascade denoising algorithm to reduce the IMU measurement noise and to further enhance the performance of the proposed transfer alignment algorithm. Finally, simulations are conducted to validate the proposed algorithms feasibility.