Performance analysis of IMU fine alignment  based on wavelet de-noising

Precision alignment performance is an essential condition to ensure the accuracy of inertial navigation. This paper summarizes the research status of precision alignment at home and abroad, and finds that precision alignment is usually achieved by Kalman filter and linear error equation of small misalignment angle of inertial sensor. Based on this, Kalman filter and wavelet analysis are used in this paper. The precision alignment performance of three kinds of inertial sensors with different performances is analyzed. It is found that the high precision inertial sensors have better alignment accuracy, while the low precision sensors have lower alignment accuracy due to noise deviation and non-linear reasons, even the situation of filter divergence.