According to the optimization requirements of the filtering parameters in the inertial error correction process

the optimization method of Kalman filtering initial filtering parameters is studied. Simulation experiments are carried out under certain state quantities

observations and set trajectory conditions

and influence of different initial filtering parameters on filtering estimation result are analyzed. The effect of filtering estimation results is combined to estimation effect of attitude error under different filtering parameters. The optimizing method of the initial filter parameters is obtained. The simulation experiment results show that compared with the standard initial filtering parameter estimation effect

the optimized initial filtering parameters are used to make errors. It is estimated that the process of azimuth error estimation is more stable

and higher estimation precision can be achieved within 120 s. Compared with the standard initial filtering parameters

the output precision is improved.