Aiming at problem of poor maneuvering performance of ship

and uncertain disturbance factors such as high-frequency vibration of ships influences inertial navigation system transfer alignment effect

a new method of velocity and angular velocity matching transfer alignment based on H∞ suboptimal filter is proposed. By analyzing the critical factors influencing performances of transfer alignment

determines the method of inertial navigation system transfer alignment suitable for weak mobility characteristics of ships. On this basis

design H∞ suboptimal filter for velocity and angular velocity matching transfer alignment to solve influence of external disturbance. Design method and filter resolving process. Comparison simulation results show that H∞ suboptimal filtering is obviously better when interference noise is colored

it has a strong robustness

and more according with actual sailing ships.