GPS/INS Integrated Navigation by Adaptive Filtering Based on Wavelet Threshold De-noising

The errors of inertia elements are remarkable factors in influencing INS or GPS/INS.A new algorithm based on wavelet threshold de-noising for GPS/INS is presented to improve the precision of integrated navigation.First,frequency-spectral analysis for output signals of inertia elements is given to decide the scale of wavelet multiresolution analysis and the measures for their high frequency coefficients.The high frequency coefficients of the scale which mostly contains noise will be set zero and those of the scale which contains noise and useful signals will be dealt with by using the threshold value.By the calculation,it is shown that the new algorithm can effectively resist the influence of the errors of inertia elements and improve the precision of navigation.