The study of INS denoised model for GPS/INS Integrated navigation

In GPS/INS Integrated Navigation,the noise will reduce the navigation precision.In frequency domain,the noise of integrated navigation can be divided into high-frequency noise and low-frequency.First,wavelet transformation and AR model are introduced.After building the model to static data without motion information,denoising parameter of wavelet and AR model are determined.KALMAN filter system based on AR model is constructed,which apply in integrated navigation noise cancellation.