Abstract
The inertial-frame-based coarse initial alignment of Strapdown Inertial Navigation System (SINS) can avoid the harmful effects of rocking disturbances. In actual work environments, marine SINS cannot be stationary and suffers from rocking disturbances. Hence, the inertial-frame-based alignment can be applied to marine SINS to provide satisfactory alignment accuracy. However, the IMU random noises are the key factor causing the alignment errors. Wavelet de-noising is an effective way of eliminating signal random noises, and it also can provide much useful information. In this paper, a wavelet de-noising method is designed to improve the performance of the SINS alignment. The simulation results have demonstrated that the proposed approaches can improve the SINS alignment accuracy and reduce the result randomness.
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