Application of Adaptive Filtering Algorithm to Initial Alignment of SINS for Land Vehicle

摘要

To improve the alignment precision and convergence speed in SINS for Land Vehicle, a useful method was presented that the wavelet threshold filter was used to eliminate outside, interference of high frequency noise in signals effectively, then the adaptive Kalman filter was applied to accomplish initial alignment to reduce the errors from system models and noise statistical properties. At last, the reality experiment result indicated that the method based on the wavelet threshold filter and the adaptive Kalman filter improved the alignment precision and convergence speed effectively, so that it was adaptable to navigation for land vehicle in general environment and the engineering application value was obvious.