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中文摘要：
基于小波变换和三参数序贯抗差估计，提出了一种新的确定捷联惯导初始姿态的方法。利用静基座下的模拟数据对该方法进行了验证。结果表明，该方法能够保证捷联惯导在较短的时间内获得较高的对准精度。
英文摘要：
A new method is presented to determine the original attitude based on the wavelet transform and three-parameter sequential robust adjustment. First the wavelet multi-resolution analysis is applied to de-noise the noise components from the measurements of gyros and accelerometers. Then the original attitude angles are calculated by the three-parameter sequential robust adjustment. By the simulating stationary data, it is determined that this new method can ensure high alignment accuracy in short time.
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