Inertial-navigation quick and initial alignment method under robust optimal significance

The invention discloses an inertial-navigation quick and initial alignment method under robust optimal significance, comprising the following steps of: introducing an auxiliary matrix and an auxiliary feedback control vector into an initial alignment system; solving a robust optimal control problem according to a maxmin index, determining a state feedback control matrix; and in an initial alignment process, recursively calculating a state vector in an error equation of an inertial-navigation system in real time by using an improved H infinite filter, forming a closed loop after feedback, and obtaining three misalignment angles after converging the system. The inertial-navigation quick and initial alignment method has good system structure and good stable parameter robustness, improves dynamic responding quality and increases the initial alignment rapidity of the initial alignment system.